+ python -m lidar_slam --result /working/result.json --no-model /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 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 0.002320588 Adjusted end_distance from 9.223372036854776e+18 to 360.702320588 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [0, True] SLAMing on 0.062320587999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:0.00 [[ 9.99924656e-01 1.22752663e-02 0.00000000e+00 6.10039735e-02] [-1.22752663e-02 9.99924656e-01 0.00000000e+00 1.01618966e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45191132e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:0.01 [[ 0.99964838 0.02651643 0. 0.11924977] [-0.02651643 0.99964838 0. 0.00828447] [ 0. 0. 1. 0.00595738] [ 0. 0. 0. 1. ]] SLAMing on 0.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:0.00, Z:0.01 [[ 0.99901837 0.04429786 0. 0.17798824] [-0.04429786 0.99901837 0. 0.00197951] [ 0. 0. 1. 0.0052876 ] [ 0. 0. 0. 1. ]] SLAMing on 0.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.00, Z:0.00 [[ 0.9986759 0.05144357 0. 0.23513049] [-0.05144357 0.9986759 0. -0.00493617] [ 0. 0. 1. 0.00439872] [ 0. 0. 0. 1. ]] SLAMing on 0.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:0.00 [[ 0.9981874 0.06018233 0. 0.29264644] [-0.06018233 0.9981874 0. -0.01337762] [ 0. 0. 1. 0.00475432] [ 0. 0. 0. 1. ]] SLAMing on 0.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.02, Z:0.01 [[ 0.99812356 0.06123206 0. 0.35130299] [-0.06123206 0.99812356 0. -0.02278673] [ 0. 0. 1. 0.00644035] [ 0. 0. 0. 1. ]] SLAMing on 0.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.03, Z:0.01 [[ 0.99821761 0.05967921 0. 0.40980663] [-0.05967921 0.99821761 0. -0.02896655] [ 0. 0. 1. 0.00738061] [ 0. 0. 0. 1. ]] SLAMing on 0.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.03, Z:0.00 [[ 0.99842464 0.0561091 0. 0.46892841] [-0.0561091 0.99842464 0. -0.03351916] [ 0. 0. 1. 0.00483176] [ 0. 0. 0. 1. ]] SLAMing on 0.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.04, Z:0.00 [[ 0.99858057 0.05326201 0. 0.52774044] [-0.05326201 0.99858057 0. -0.03783606] [ 0. 0. 1. 0.00226536] [ 0. 0. 0. 1. ]] SLAMing on 0.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.05, Z:-0.00 [[ 9.98859456e-01 4.77471205e-02 0.00000000e+00 5.84811659e-01] [-4.77471205e-02 9.98859456e-01 0.00000000e+00 -4.82109675e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16368036e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6623205879999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.06, Z:-0.00 [[ 9.98965929e-01 4.54650772e-02 0.00000000e+00 6.42696499e-01] [-4.54650772e-02 9.98965929e-01 0.00000000e+00 -5.54856871e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47539187e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.06, Z:0.00 [[ 9.99116584e-01 4.20244101e-02 0.00000000e+00 7.01505555e-01] [-4.20244101e-02 9.99116584e-01 0.00000000e+00 -6.05476382e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53477667e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.07, Z:-0.00 [[ 0.99931647 0.03696758 0. 0.76021169] [-0.03696758 0.99931647 0. -0.06813034] [ 0. 0. 1. -0.00177862] [ 0. 0. 0. 1. ]] SLAMing on 0.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.07, Z:-0.00 [[ 0.99933472 0.03647083 0. 0.81849701] [-0.03647083 0.99933472 0. -0.07184613] [ 0. 0. 1. -0.00177862] [ 0. 0. 0. 1. ]] SLAMing on 0.9023205879999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.08, Z:-0.00 [[ 0.99946653 0.03265974 0. 0.8763926 ] [-0.03265974 0.99946653 0. -0.08023603] [ 0. 0. 1. -0.00281666] [ 0. 0. 0. 1. ]] SLAMing on 0.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.08, Z:-0.00 [[ 9.99482556e-01 3.21655265e-02 0.00000000e+00 9.34340650e-01] [-3.21655265e-02 9.99482556e-01 0.00000000e+00 -8.40138882e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71098198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.09, Z:0.00 [[ 0.9993752 0.03534422 0. 0.99335726] [-0.03534422 0.9993752 0. -0.08773485] [ 0. 0. 1. 0.00268846] [ 0. 0. 0. 1. ]] SLAMing on 1.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.10, Z:0.00 [[ 9.99120093e-01 4.19408984e-02 0.00000000e+00 1.05213132e+00] [-4.19408984e-02 9.99120093e-01 0.00000000e+00 -9.51647975e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52939706e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1423205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.10, Z:-0.00 [[ 0.9990353 0.04391433 0. 1.11107996] [-0.04391433 0.9990353 0. -0.10106545] [ 0. 0. 1. -0.00166553] [ 0. 0. 0. 1. ]] SLAMing on 1.2023205879999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.11, Z:-0.00 [[ 0.99884621 0.04802343 0. 1.17000367] [-0.04802343 0.99884621 0. -0.10845497] [ 0. 0. 1. -0.00148536] [ 0. 0. 0. 1. ]] SLAMing on 1.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.11, Z:0.00 [[ 0.99868566 0.05125376 0. 1.22951464] [-0.05125376 0.99868566 0. -0.11400899] [ 0. 0. 1. 0.00353496] [ 0. 0. 0. 1. ]] SLAMing on 1.3223205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.19, Z:-0.00 [[ 0.9984414 0.05581015 0. 1.28515631] [-0.05581015 0.9984414 0. -0.19309366] [ 0. 0. 1. -0.00130515] [ 0. 0. 0. 1. ]] SLAMing on 1.3823205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.20, Z:0.00 [[ 9.98413773e-01 5.63021942e-02 0.00000000e+00 1.34467473e+00] [-5.63021942e-02 9.98413773e-01 0.00000000e+00 -1.96575723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96705904e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4423205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.20, Z:0.00 [[ 0.99835988 0.05724985 0. 1.40445448] [-0.05724985 0.99835988 0. -0.20124642] [ 0. 0. 1. 0.00309288] [ 0. 0. 0. 1. ]] SLAMing on 1.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.21, Z:0.00 [[ 0.99849419 0.05485756 0. 1.46346602] [-0.05485756 0.99849419 0. -0.20770223] [ 0. 0. 1. 0.00397386] [ 0. 0. 0. 1. ]] SLAMing on 1.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.22, Z:0.00 [[ 0.99871241 0.05072996 0. 1.52237794] [-0.05072996 0.99871241 0. -0.21644908] [ 0. 0. 1. 0.00235007] [ 0. 0. 0. 1. ]] SLAMing on 1.6223205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.22, Z:0.00 [[ 9.98817563e-01 4.86155871e-02 0.00000000e+00 1.58202328e+00] [-4.86155871e-02 9.98817563e-01 0.00000000e+00 -2.23456489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17747257e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6823205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.23, Z:-0.00 [[ 9.98893266e-01 4.70344832e-02 0.00000000e+00 1.64231508e+00] [-4.70344832e-02 9.98893266e-01 0.00000000e+00 -2.31578830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.39682937e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.24, Z:-0.00 [[ 9.98865432e-01 4.76219383e-02 0.00000000e+00 1.70303659e+00] [-4.76219383e-02 9.98865432e-01 0.00000000e+00 -2.35360954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.38900589e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8023205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.24, Z:-0.00 [[ 0.99871886 0.05060269 0. 1.76309217] [-0.05060269 0.99871886 0. -0.2394989 ] [ 0. 0. 1. -0.00209046] [ 0. 0. 0. 1. ]] SLAMing on 1.8623205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.24, Z:-0.00 [[ 0.9986076 0.05275279 0. 1.8237897 ] [-0.05275279 0.9986076 0. -0.24417306] [ 0. 0. 1. -0.00198039] [ 0. 0. 0. 1. ]] SLAMing on 1.9223205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.25, Z:-0.00 [[ 9.98412826e-01 5.63189923e-02 0.00000000e+00 1.88429679e+00] [-5.63189923e-02 9.98412826e-01 0.00000000e+00 -2.50417697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10832921e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9823205879999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.25, Z:0.00 [[ 9.98334570e-01 5.76895664e-02 0.00000000e+00 1.94489575e+00] [-5.76895664e-02 9.98334570e-01 0.00000000e+00 -2.54712640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34769288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.26, Z:0.00 [[ 9.98285627e-01 5.85303943e-02 0.00000000e+00 2.00512603e+00] [-5.85303943e-02 9.98285627e-01 0.00000000e+00 -2.56613788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44978056e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.26, Z:0.00 [[ 9.98204901e-01 5.98913646e-02 0.00000000e+00 2.06587534e+00] [-5.98913646e-02 9.98204901e-01 0.00000000e+00 -2.60716199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74523873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.27, Z:0.00 [[ 0.99813593 0.06102996 0. 2.1265205 ] [-0.06102996 0.99813593 0. -0.26553188] [ 0. 0. 1. 0.00333037] [ 0. 0. 0. 1. ]] SLAMing on 2.2223205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.27, Z:0.01 [[ 0.99789061 0.0649179 0. 2.18583589] [-0.0649179 0.99789061 0. -0.26771414] [ 0. 0. 1. 0.00552582] [ 0. 0. 0. 1. ]] SLAMing on 2.2823205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.27, Z:0.00 [[ 0.99766697 0.06826875 0. 2.24598257] [-0.06826875 0.99766697 0. -0.2703314 ] [ 0. 0. 1. 0.00460082] [ 0. 0. 0. 1. ]] SLAMing on 2.3423205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.27, Z:0.00 [[ 0.99708441 0.07630654 0. 2.30530157] [-0.07630654 0.99708441 0. -0.27294387] [ 0. 0. 1. 0.00231314] [ 0. 0. 0. 1. ]] SLAMing on 2.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.27, Z:0.00 [[ 0.99657458 0.08269892 0. 2.36531681] [-0.08269892 0.99657458 0. -0.27307235] [ 0. 0. 1. 0.00283452] [ 0. 0. 0. 1. ]] SLAMing on 2.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.26, Z:0.00 [[ 0.99523661 0.09748894 0. 2.42469338] [-0.09748894 0.99523661 0. -0.26221854] [ 0. 0. 1. 0.00261761] [ 0. 0. 0. 1. ]] SLAMing on 2.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.26, Z:0.00 [[ 9.94530069e-01 1.04450663e-01 0.00000000e+00 2.48353003e+00] [-1.04450663e-01 9.94530069e-01 0.00000000e+00 -2.58930097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62520941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.25, Z:0.00 [[ 9.93110636e-01 1.17180478e-01 0.00000000e+00 2.54294918e+00] [-1.17180478e-01 9.93110636e-01 0.00000000e+00 -2.51419644e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98596666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6423205879999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.24, Z:0.00 [[ 9.92070811e-01 1.25680171e-01 0.00000000e+00 2.60197790e+00] [-1.25680171e-01 9.92070811e-01 0.00000000e+00 -2.38408716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61638910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7023205879999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.24, Z:0.00 [[ 9.92130476e-01 1.25208298e-01 0.00000000e+00 2.66032939e+00] [-1.25208298e-01 9.92130476e-01 0.00000000e+00 -2.41793607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61638910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7623205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.23, Z:0.00 [[ 0.99173574 0.12829742 0. 2.7203669 ] [-0.12829742 0.99173574 0. -0.22648793] [ 0. 0. 1. 0.00414468] [ 0. 0. 0. 1. ]] SLAMing on 2.8223205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.22, Z:0.01 [[ 0.99164295 0.1290126 0. 2.77951443] [-0.1290126 0.99164295 0. -0.21950328] [ 0. 0. 1. 0.00585241] [ 0. 0. 0. 1. ]] SLAMing on 2.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.20, Z:0.01 [[ 0.99174471 0.12822802 0. 2.83983856] [-0.12822802 0.99174471 0. -0.20170535] [ 0. 0. 1. 0.00775043] [ 0. 0. 0. 1. ]] SLAMing on 2.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.19, Z:0.01 [[ 0.99213628 0.12516231 0. 2.89910439] [-0.12516231 0.99213628 0. -0.18920903] [ 0. 0. 1. 0.00620212] [ 0. 0. 0. 1. ]] SLAMing on 3.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.18, Z:0.01 [[ 0.99341362 0.11458349 0. 2.95819535] [-0.11458349 0.99341362 0. -0.18202876] [ 0. 0. 1. 0.00638186] [ 0. 0. 0. 1. ]] SLAMing on 3.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.18, Z:0.01 [[ 0.99447125 0.10500918 0. 3.01717891] [-0.10500918 0.99447125 0. -0.18171368] [ 0. 0. 1. 0.0062286 ] [ 0. 0. 0. 1. ]] SLAMing on 3.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.18, Z:0.01 [[ 0.99643271 0.08439113 0. 3.07609379] [-0.08439113 0.99643271 0. -0.18158685] [ 0. 0. 1. 0.00548967] [ 0. 0. 0. 1. ]] SLAMing on 3.1823205879999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.18, Z:0.00 [[ 9.97174719e-01 7.51171076e-02 0.00000000e+00 3.13459982e+00] [-7.51171076e-02 9.97174719e-01 0.00000000e+00 -1.83118498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65477238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2423205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.18, Z:0.00 [[ 9.98233770e-01 5.94082505e-02 0.00000000e+00 3.19373774e+00] [-5.94082505e-02 9.98233770e-01 0.00000000e+00 -1.83736065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12667508e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3023205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.19, Z:0.00 [[ 9.98595187e-01 5.29872935e-02 0.00000000e+00 3.25231691e+00] [-5.29872935e-02 9.98595187e-01 0.00000000e+00 -1.87308354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21139607e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3623205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.20, Z:-0.00 [[ 9.99105648e-01 4.22836196e-02 0.00000000e+00 3.31030838e+00] [-4.22836196e-02 9.99105648e-01 0.00000000e+00 -1.95353256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01000099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.21, Z:-0.00 [[ 0.99944443 0.03332903 0. 3.36857597] [-0.03332903 0.99944443 0. -0.20595182] [ 0. 0. 1. -0.00420885] [ 0. 0. 0. 1. ]] SLAMing on 3.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.21, Z:-0.00 [[ 0.99957013 0.02931824 0. 3.42656917] [-0.02931824 0.99957013 0. -0.21295811] [ 0. 0. 1. -0.00438991] [ 0. 0. 0. 1. ]] SLAMing on 3.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.22, Z:-0.01 [[ 0.99967579 0.0254622 0. 3.48477424] [-0.0254622 0.99967579 0. -0.21929628] [ 0. 0. 1. -0.00525458] [ 0. 0. 0. 1. ]] SLAMing on 3.6023205879999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.22, Z:-0.00 [[ 0.99979119 0.02043493 0. 3.54353169] [-0.02043493 0.99979119 0. -0.22415441] [ 0. 0. 1. -0.00499046] [ 0. 0. 0. 1. ]] SLAMing on 3.6623205879999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.23, Z:-0.00 [[ 0.99983142 0.01836091 0. 3.60219045] [-0.01836091 0.99983142 0. -0.22960098] [ 0. 0. 1. -0.00492928] [ 0. 0. 0. 1. ]] SLAMing on 3.7223205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.24, Z:-0.01 [[ 0.99984608 0.01754496 0. 3.66079116] [-0.01754496 0.99984608 0. -0.23580402] [ 0. 0. 1. -0.00510992] [ 0. 0. 0. 1. ]] SLAMing on 3.7823205879999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.24, Z:-0.00 [[ 9.99817564e-01 1.91007571e-02 0.00000000e+00 3.71914017e+00] [-1.91007571e-02 9.99817564e-01 0.00000000e+00 -2.39984966e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04703662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8423205879999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.24, Z:-0.00 [[ 0.99979843 0.02007746 0. 3.77842469] [-0.02007746 0.99979843 0. -0.24056601] [ 0. 0. 1. -0.00393219] [ 0. 0. 0. 1. ]] SLAMing on 3.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.24, Z:-0.01 [[ 0.99967983 0.02530287 0. 3.83767694] [-0.02530287 0.99967983 0. -0.24076354] [ 0. 0. 1. -0.00728459] [ 0. 0. 0. 1. ]] SLAMing on 3.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.24, Z:-0.01 [[ 0.99948705 0.03202546 0. 3.89654204] [-0.03202546 0.99948705 0. -0.24174202] [ 0. 0. 1. -0.0088898 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0223205879999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.24, Z:-0.01 [[ 0.99939535 0.03476973 0. 3.95554712] [-0.03476973 0.99939535 0. -0.24261374] [ 0. 0. 1. -0.00789539] [ 0. 0. 0. 1. ]] SLAMing on 4.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.24, Z:-0.01 [[ 0.99924786 0.03877773 0. 4.01590927] [-0.03877773 0.99924786 0. -0.2416472 ] [ 0. 0. 1. -0.00932496] [ 0. 0. 0. 1. ]] SLAMing on 4.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.24, Z:-0.01 [[ 0.99924869 0.03875641 0. 4.07464244] [-0.03875641 0.99924869 0. -0.24327421] [ 0. 0. 1. -0.01039165] [ 0. 0. 0. 1. ]] SLAMing on 4.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.24, Z:-0.01 [[ 0.99932386 0.03676704 0. 4.13337583] [-0.03676704 0.99932386 0. -0.24129643] [ 0. 0. 1. -0.01236329] [ 0. 0. 0. 1. ]] SLAMing on 4.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.24, Z:-0.01 [[ 0.99937095 0.03546409 0. 4.19239743] [-0.03546409 0.99937095 0. -0.24138364] [ 0. 0. 1. -0.01259098] [ 0. 0. 0. 1. ]] SLAMing on 4.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.24, Z:-0.01 [[ 0.99941438 0.03421839 0. 4.25137113] [-0.03421839 0.99941438 0. -0.24259777] [ 0. 0. 1. -0.01436982] [ 0. 0. 0. 1. ]] SLAMing on 4.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.24, Z:-0.01 [[ 0.9994018 0.03458373 0. 4.30991169] [-0.03458373 0.9994018 0. -0.24445508] [ 0. 0. 1. -0.01476344] [ 0. 0. 0. 1. ]] SLAMing on 4.442320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.24, Z:-0.02 [[ 0.99928442 0.03782395 0. 4.36965709] [-0.03782395 0.99928442 0. -0.24238675] [ 0. 0. 1. -0.01501244] [ 0. 0. 0. 1. ]] SLAMing on 4.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.24, Z:-0.02 [[ 0.99918962 0.04025041 0. 4.42799084] [-0.04025041 0.99918962 0. -0.24460411] [ 0. 0. 1. -0.01701234] [ 0. 0. 0. 1. ]] SLAMing on 4.5623205879999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.25, Z:-0.02 [[ 0.99918752 0.0403025 0. 4.48624196] [-0.0403025 0.99918752 0. -0.24838562] [ 0. 0. 1. -0.01744967] [ 0. 0. 0. 1. ]] SLAMing on 4.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.25, Z:-0.02 [[ 0.9992639 0.03836213 0. 4.54494966] [-0.03836213 0.9992639 0. -0.25147214] [ 0. 0. 1. -0.01684611] [ 0. 0. 0. 1. ]] SLAMing on 4.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.25, Z:-0.02 [[ 0.99935088 0.03602529 0. 4.60253571] [-0.03602529 0.99935088 0. -0.25362849] [ 0. 0. 1. -0.0166885 ] [ 0. 0. 0. 1. ]] SLAMing on 4.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.26, Z:-0.02 [[ 0.99951601 0.03110872 0. 4.66093453] [-0.03110872 0.99951601 0. -0.2579427 ] [ 0. 0. 1. -0.01935285] [ 0. 0. 0. 1. ]] SLAMing on 4.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.26, Z:-0.02 [[ 0.99960326 0.02816591 0. 4.72070919] [-0.02816591 0.99960326 0. -0.26335074] [ 0. 0. 1. -0.02003684] [ 0. 0. 0. 1. ]] SLAMing on 4.862320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.26, Z:-0.02 [[ 0.99961509 0.02774312 0. 4.78002219] [-0.02774312 0.99961509 0. -0.2643882 ] [ 0. 0. 1. -0.02028781] [ 0. 0. 0. 1. ]] SLAMing on 4.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.26, Z:-0.02 [[ 0.99952715 0.0307487 0. 4.8398591 ] [-0.0307487 0.99952715 0. -0.2619883 ] [ 0. 0. 1. -0.02031139] [ 0. 0. 0. 1. ]] SLAMing on 4.982320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.27, Z:-0.02 [[ 0.99948827 0.03198735 0. 4.89879866] [-0.03198735 0.99948827 0. -0.26616904] [ 0. 0. 1. -0.02110978] [ 0. 0. 0. 1. ]] SLAMing on 5.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.28, Z:-0.03 [[ 0.99955156 0.02994464 0. 4.95818158] [-0.02994464 0.99955156 0. -0.27997241] [ 0. 0. 1. -0.02586137] [ 0. 0. 0. 1. ]] SLAMing on 5.1023205879999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.29, Z:-0.03 [[ 0.99981091 0.01944592 0. 5.01665232] [-0.01944592 0.99981091 0. -0.29053943] [ 0. 0. 1. -0.02685554] [ 0. 0. 0. 1. ]] SLAMing on 5.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.29, Z:-0.03 [[ 0.99991921 0.01271092 0. 5.0756112 ] [-0.01271092 0.99991921 0. -0.29496198] [ 0. 0. 1. -0.02647877] [ 0. 0. 0. 1. ]] SLAMing on 5.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.31, Z:-0.03 [[ 9.99998055e-01 1.97210562e-03 0.00000000e+00 5.13378234e+00] [-1.97210562e-03 9.99998055e-01 0.00000000e+00 -3.06127228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91037510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.32, Z:-0.03 [[ 0.99998454 -0.00556011 0. 5.19333065] [ 0.00556011 0.99998454 0. -0.32310604] [ 0. 0. 1. -0.03034028] [ 0. 0. 0. 1. ]] SLAMing on 5.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.33, Z:-0.03 [[ 0.99996236 -0.00867654 0. 5.25385954] [ 0.00867654 0.99996236 0. -0.33320305] [ 0. 0. 1. -0.02993981] [ 0. 0. 0. 1. ]] SLAMing on 5.402320587999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.36, Z:-0.03 [[ 0.99993386 -0.01150132 0. 5.31476704] [ 0.01150132 0.99993386 0. -0.35522 ] [ 0. 0. 1. -0.03228252] [ 0. 0. 0. 1. ]] SLAMing on 5.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.37, Z:-0.03 [[ 0.99993144 -0.01170966 0. 5.37584688] [ 0.01170966 0.99993144 0. -0.36749448] [ 0. 0. 1. -0.03263376] [ 0. 0. 0. 1. ]] SLAMing on 5.5223205879999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.38, Z:-0.03 [[ 0.99996297 -0.00860584 0. 5.43633857] [ 0.00860584 0.99996297 0. -0.38367902] [ 0. 0. 1. -0.03086852] [ 0. 0. 0. 1. ]] SLAMing on 5.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.39, Z:-0.03 [[ 9.99998462e-01 1.75409179e-03 0.00000000e+00 5.49669405e+00] [-1.75409179e-03 9.99998462e-01 0.00000000e+00 -3.92760776e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91131389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.40, Z:-0.03 [[ 0.99996498 0.0083686 0. 5.55688043] [-0.0083686 0.99996498 0. -0.39708909] [ 0. 0. 1. -0.03034857] [ 0. 0. 0. 1. ]] SLAMing on 5.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.40, Z:-0.04 [[ 0.99976105 0.02185963 0. 5.61675947] [-0.02185963 0.99976105 0. -0.40218384] [ 0. 0. 1. -0.03506776] [ 0. 0. 0. 1. ]] SLAMing on 5.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.40, Z:-0.03 [[ 0.99993453 0.01144297 0. 5.67718208] [-0.01144297 0.99993453 0. -0.40402907] [ 0. 0. 1. -0.03235627] [ 0. 0. 0. 1. ]] SLAMing on 5.822320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.41, Z:-0.03 [[ 0.99994874 0.010125 0. 5.73718662] [-0.010125 0.99994874 0. -0.41369452] [ 0. 0. 1. -0.03273 ] [ 0. 0. 0. 1. ]] SLAMing on 5.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.43, Z:-0.03 [[ 0.99996636 0.00820224 0. 5.7969165 ] [-0.00820224 0.99996636 0. -0.43038338] [ 0. 0. 1. -0.03175788] [ 0. 0. 0. 1. ]] SLAMing on 5.942320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.44, Z:-0.03 [[ 0.99998056 0.00623541 0. 5.85736979] [-0.00623541 0.99998056 0. -0.43831228] [ 0. 0. 1. -0.03245588] [ 0. 0. 0. 1. ]] SLAMing on 6.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.45, Z:-0.03 [[ 0.99998106 0.00615448 0. 5.91751957] [-0.00615448 0.99998106 0. -0.44553463] [ 0. 0. 1. -0.03283562] [ 0. 0. 0. 1. ]] SLAMing on 6.0623205879999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.46, Z:-0.03 [[ 9.99982514e-01 5.91363849e-03 0.00000000e+00 5.97772242e+00] [-5.91363849e-03 9.99982514e-01 0.00000000e+00 -4.60573212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22676298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.47, Z:-0.03 [[ 0.99994856 0.01014324 0. 6.03796212] [-0.01014324 0.99994856 0. -0.46854238] [ 0. 0. 1. -0.03264643] [ 0. 0. 0. 1. ]] SLAMing on 6.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.47, Z:-0.03 [[ 0.9999191 0.0127199 0. 6.09798809] [-0.0127199 0.9999191 0. -0.47382736] [ 0. 0. 1. -0.03281022] [ 0. 0. 0. 1. ]] SLAMing on 6.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.48, Z:-0.03 [[ 0.99985952 0.01676143 0. 6.15828648] [-0.01676143 0.99985952 0. -0.48488493] [ 0. 0. 1. -0.0329459 ] [ 0. 0. 0. 1. ]] SLAMing on 6.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.49, Z:-0.03 [[ 0.99981828 0.01906327 0. 6.21845857] [-0.01906327 0.99981828 0. -0.49396898] [ 0. 0. 1. -0.03046367] [ 0. 0. 0. 1. ]] SLAMing on 6.362320587999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.50, Z:-0.03 [[ 0.99977948 0.02099982 0. 6.27975953] [-0.02099982 0.99977948 0. -0.49781324] [ 0. 0. 1. -0.02948066] [ 0. 0. 0. 1. ]] SLAMing on 6.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.50, Z:-0.03 [[ 0.99967128 0.02563837 0. 6.34070136] [-0.02563837 0.99967128 0. -0.50344995] [ 0. 0. 1. -0.03088244] [ 0. 0. 0. 1. ]] SLAMing on 6.482320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.51, Z:-0.03 [[ 0.99959198 0.02856356 0. 6.40173243] [-0.02856356 0.99959198 0. -0.5080054 ] [ 0. 0. 1. -0.03265602] [ 0. 0. 0. 1. ]] SLAMing on 6.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.51, Z:-0.03 [[ 0.99951705 0.03107503 0. 6.46292844] [-0.03107503 0.99951705 0. -0.51265923] [ 0. 0. 1. -0.03458823] [ 0. 0. 0. 1. ]] SLAMing on 6.6023205879999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.52, Z:-0.04 [[ 0.99929994 0.03741154 0. 6.52438786] [-0.03741154 0.99929994 0. -0.51767468] [ 0. 0. 1. -0.03616262] [ 0. 0. 0. 1. ]] SLAMing on 6.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.52, Z:-0.03 [[ 0.9990248 0.04415261 0. 6.58579 ] [-0.04415261 0.9990248 0. -0.52384927] [ 0. 0. 1. -0.03372353] [ 0. 0. 0. 1. ]] SLAMing on 6.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.53, Z:-0.03 [[ 0.99890613 0.04676057 0. 6.64758184] [-0.04676057 0.99890613 0. -0.52950147] [ 0. 0. 1. -0.03171196] [ 0. 0. 0. 1. ]] SLAMing on 6.782320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.53, Z:-0.03 [[ 0.99864643 0.0520126 0. 6.70970808] [-0.0520126 0.99864643 0. -0.5333349 ] [ 0. 0. 1. -0.03016595] [ 0. 0. 0. 1. ]] SLAMing on 6.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.53, Z:-0.03 [[ 0.99844793 0.05569324 0. 6.77147966] [-0.05569324 0.99844793 0. -0.53248086] [ 0. 0. 1. -0.03185634] [ 0. 0. 0. 1. ]] SLAMing on 6.902320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.53, Z:-0.03 [[ 0.99789061 0.06491786 0. 6.83309682] [-0.06491786 0.99789061 0. -0.52718401] [ 0. 0. 1. -0.03471847] [ 0. 0. 0. 1. ]] SLAMing on 6.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.52, Z:-0.03 [[ 0.99704106 0.07687083 0. 6.89495461] [-0.07687083 0.99704106 0. -0.52320869] [ 0. 0. 1. -0.03314667] [ 0. 0. 0. 1. ]] SLAMing on 7.0223205879999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.52, Z:-0.03 [[ 0.99669454 0.08124032 0. 6.95619798] [-0.08124032 0.99669454 0. -0.52146386] [ 0. 0. 1. -0.03091265] [ 0. 0. 0. 1. ]] SLAMing on 7.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.52, Z:-0.03 [[ 0.99648119 0.08381672 0. 7.01806802] [-0.08381672 0.99648119 0. -0.51788963] [ 0. 0. 1. -0.03075511] [ 0. 0. 0. 1. ]] SLAMing on 7.142320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.52, Z:-0.03 [[ 0.99694824 0.0780654 0. 7.07964644] [-0.0780654 0.99694824 0. -0.52194865] [ 0. 0. 1. -0.03184212] [ 0. 0. 0. 1. ]] SLAMing on 7.202320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.52, Z:-0.03 [[ 0.99716592 0.07523379 0. 7.14104874] [-0.07523379 0.99716592 0. -0.52287473] [ 0. 0. 1. -0.03281154] [ 0. 0. 0. 1. ]] SLAMing on 7.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.52, Z:-0.03 [[ 0.99735326 0.07270808 0. 7.20237964] [-0.07270808 0.99735326 0. -0.51637468] [ 0. 0. 1. -0.03196557] [ 0. 0. 0. 1. ]] SLAMing on 7.322320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.52, Z:-0.03 [[ 0.99723908 0.07425775 0. 7.26373584] [-0.07425775 0.99723908 0. -0.51635721] [ 0. 0. 1. -0.03191331] [ 0. 0. 0. 1. ]] SLAMing on 7.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.52, Z:-0.03 [[ 0.99680084 0.07992555 0. 7.32531717] [-0.07992555 0.99680084 0. -0.51560768] [ 0. 0. 1. -0.0310499 ] [ 0. 0. 0. 1. ]] SLAMing on 7.442320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.51, Z:-0.03 [[ 0.9964421 0.08428009 0. 7.38635519] [-0.08428009 0.9964421 0. -0.51109119] [ 0. 0. 1. -0.0292525 ] [ 0. 0. 0. 1. ]] SLAMing on 7.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.51, Z:-0.03 [[ 0.99639475 0.08483805 0. 7.4470362 ] [-0.08483805 0.99639475 0. -0.51236467] [ 0. 0. 1. -0.02839772] [ 0. 0. 0. 1. ]] SLAMing on 7.5623205879999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.52, Z:-0.03 [[ 0.99674734 0.08058999 0. 7.50730906] [-0.08058999 0.99674734 0. -0.51708821] [ 0. 0. 1. -0.02574 ] [ 0. 0. 0. 1. ]] SLAMing on 7.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.52, Z:-0.03 [[ 0.99702155 0.07712352 0. 7.56829984] [-0.07712352 0.99702155 0. -0.51831785] [ 0. 0. 1. -0.02551524] [ 0. 0. 0. 1. ]] SLAMing on 7.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.51, Z:-0.03 [[ 0.99747438 0.07102717 0. 7.62968909] [-0.07102717 0.99747438 0. -0.5107189 ] [ 0. 0. 1. -0.02514613] [ 0. 0. 0. 1. ]] SLAMing on 7.742320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.50, Z:-0.02 [[ 0.99758913 0.06939689 0. 7.68965962] [-0.06939689 0.99758913 0. -0.49820519] [ 0. 0. 1. -0.02426464] [ 0. 0. 0. 1. ]] SLAMing on 7.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.49, Z:-0.03 [[ 0.9974876 0.07084124 0. 7.74992593] [-0.07084124 0.9974876 0. -0.49337099] [ 0. 0. 1. -0.02521089] [ 0. 0. 0. 1. ]] SLAMing on 7.862320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.48, Z:-0.03 [[ 0.99731587 0.07321929 0. 7.80888636] [-0.07321929 0.99731587 0. -0.48248586] [ 0. 0. 1. -0.02808774] [ 0. 0. 0. 1. ]] SLAMing on 7.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.47, Z:-0.03 [[ 0.99739683 0.07210802 0. 7.86847483] [-0.07210802 0.99739683 0. -0.47374642] [ 0. 0. 1. -0.02960329] [ 0. 0. 0. 1. ]] SLAMing on 7.982320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.47, Z:-0.03 [[ 0.99764864 0.06853605 0. 7.9269378 ] [-0.06853605 0.99764864 0. -0.47081803] [ 0. 0. 1. -0.02960996] [ 0. 0. 0. 1. ]] SLAMing on 8.042320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.46, Z:-0.03 [[ 0.99841974 0.05619622 0. 7.98643072] [-0.05619622 0.99841974 0. -0.46436863] [ 0. 0. 1. -0.03130748] [ 0. 0. 0. 1. ]] SLAMing on 8.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.46, Z:-0.03 [[ 0.99884889 0.0479676 0. 8.0444139 ] [-0.0479676 0.99884889 0. -0.46294143] [ 0. 0. 1. -0.03182379] [ 0. 0. 0. 1. ]] SLAMing on 8.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.46, Z:-0.03 [[ 0.99938796 0.03498145 0. 8.10242613] [-0.03498145 0.99938796 0. -0.45975794] [ 0. 0. 1. -0.03124144] [ 0. 0. 0. 1. ]] SLAMing on 8.222320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.46, Z:-0.03 [[ 0.99970903 0.02412149 0. 8.16044097] [-0.02412149 0.99970903 0. -0.46322538] [ 0. 0. 1. -0.03061464] [ 0. 0. 0. 1. ]] SLAMing on 8.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.47, Z:-0.03 [[ 0.99988374 0.01524792 0. 8.21855976] [-0.01524792 0.99988374 0. -0.47224349] [ 0. 0. 1. -0.03219182] [ 0. 0. 0. 1. ]] SLAMing on 8.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.48, Z:-0.03 [[ 0.99992272 0.01243182 0. 8.27834431] [-0.01243182 0.99992272 0. -0.47914249] [ 0. 0. 1. -0.03221773] [ 0. 0. 0. 1. ]] SLAMing on 8.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.48, Z:-0.03 [[ 0.99994235 0.01073726 0. 8.33780026] [-0.01073726 0.99994235 0. -0.48373147] [ 0. 0. 1. -0.03062864] [ 0. 0. 0. 1. ]] SLAMing on 8.462320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.49, Z:-0.03 [[ 0.99994247 0.01072643 0. 8.39714798] [-0.01072643 0.99994247 0. -0.48532958] [ 0. 0. 1. -0.02925971] [ 0. 0. 0. 1. ]] SLAMing on 8.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.48, Z:-0.03 [[ 0.99987944 0.01552733 0. 8.45649824] [-0.01552733 0.99987944 0. -0.48374465] [ 0. 0. 1. -0.02757392] [ 0. 0. 0. 1. ]] SLAMing on 8.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.49, Z:-0.02 [[ 0.99977127 0.02138718 0. 8.51565195] [-0.02138718 0.99977127 0. -0.4888922 ] [ 0. 0. 1. -0.01753293] [ 0. 0. 0. 1. ]] SLAMing on 8.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.49, Z:-0.03 [[ 0.99964425 0.02667169 0. 8.57521593] [-0.02667169 0.99964425 0. -0.49196781] [ 0. 0. 1. -0.02782951] [ 0. 0. 0. 1. ]] SLAMing on 8.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.49, Z:-0.03 [[ 0.99956436 0.02951435 0. 8.63399233] [-0.02951435 0.99956436 0. -0.49261784] [ 0. 0. 1. -0.02739425] [ 0. 0. 0. 1. ]] SLAMing on 8.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.50, Z:-0.03 [[ 0.99953187 0.03059492 0. 8.69268398] [-0.03059492 0.99953187 0. -0.49536564] [ 0. 0. 1. -0.02755447] [ 0. 0. 0. 1. ]] SLAMing on 8.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.50, Z:-0.03 [[ 0.99947136 0.03251166 0. 8.75164513] [-0.03251166 0.99947136 0. -0.49730165] [ 0. 0. 1. -0.02884295] [ 0. 0. 0. 1. ]] SLAMing on 8.882320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.49, Z:-0.02 [[ 0.99929577 0.03752296 0. 8.8111331 ] [-0.03752296 0.99929577 0. -0.48979359] [ 0. 0. 1. -0.01818271] [ 0. 0. 0. 1. ]] SLAMing on 8.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.49, Z:-0.02 [[ 0.99918434 0.04038132 0. 8.86980031] [-0.04038132 0.99918434 0. -0.48842002] [ 0. 0. 1. -0.01622026] [ 0. 0. 0. 1. ]] SLAMing on 9.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.49, Z:-0.02 [[ 0.99874654 0.05005352 0. 8.92851851] [-0.05005352 0.99874654 0. -0.49038705] [ 0. 0. 1. -0.0245644 ] [ 0. 0. 0. 1. ]] SLAMing on 9.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.49, Z:-0.02 [[ 0.99864309 0.05207674 0. 8.98646293] [-0.05207674 0.99864309 0. -0.48522452] [ 0. 0. 1. -0.02307203] [ 0. 0. 0. 1. ]] SLAMing on 9.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.48, Z:-0.02 [[ 0.99867207 0.05151795 0. 9.04413873] [-0.05151795 0.99867207 0. -0.48097303] [ 0. 0. 1. -0.02332086] [ 0. 0. 0. 1. ]] SLAMing on 9.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.48, Z:-0.02 [[ 0.998728 0.05042197 0. 9.10214432] [-0.05042197 0.998728 0. -0.47745002] [ 0. 0. 1. -0.02424606] [ 0. 0. 0. 1. ]] SLAMing on 9.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.48, Z:-0.02 [[ 0.99881432 0.04868213 0. 9.16043812] [-0.04868213 0.99881432 0. -0.47888124] [ 0. 0. 1. -0.02352197] [ 0. 0. 0. 1. ]] SLAMing on 9.302320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.47, Z:-0.02 [[ 0.99888154 0.04728285 0. 9.21921846] [-0.04728285 0.99888154 0. -0.47254727] [ 0. 0. 1. -0.02061443] [ 0. 0. 0. 1. ]] SLAMing on 9.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.46, Z:-0.02 [[ 0.99892497 0.04635634 0. 9.27810405] [-0.04635634 0.99892497 0. -0.46493386] [ 0. 0. 1. -0.02296156] [ 0. 0. 0. 1. ]] SLAMing on 9.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.46, Z:-0.02 [[ 0.99911185 0.04213682 0. 9.33673094] [-0.04213682 0.99911185 0. -0.46423315] [ 0. 0. 1. -0.02069107] [ 0. 0. 0. 1. ]] SLAMing on 9.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.46, Z:-0.03 [[ 0.99925485 0.03859725 0. 9.39542068] [-0.03859725 0.99925485 0. -0.46319916] [ 0. 0. 1. -0.02730083] [ 0. 0. 0. 1. ]] SLAMing on 9.542320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.46, Z:-0.03 [[ 0.99941265 0.03426875 0. 9.45333024] [-0.03426875 0.99941265 0. -0.46201338] [ 0. 0. 1. -0.0256294 ] [ 0. 0. 0. 1. ]] SLAMing on 9.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.46, Z:-0.02 [[ 0.99965645 0.02621023 0. 9.51173245] [-0.02621023 0.99965645 0. -0.46326111] [ 0. 0. 1. -0.02345425] [ 0. 0. 0. 1. ]] SLAMing on 9.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.47, Z:-0.02 [[ 0.99985288 0.01715306 0. 9.57023604] [-0.01715306 0.99985288 0. -0.46707927] [ 0. 0. 1. -0.02473143] [ 0. 0. 0. 1. ]] SLAMing on 9.722320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.47, Z:-0.03 [[ 0.99993969 0.01098269 0. 9.6290805 ] [-0.01098269 0.99993969 0. -0.46920942] [ 0. 0. 1. -0.02773936] [ 0. 0. 0. 1. ]] SLAMing on 9.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.47, Z:-0.03 [[ 9.99955970e-01 9.38395433e-03 0.00000000e+00 9.68838059e+00] [-9.38395433e-03 9.99955970e-01 0.00000000e+00 -4.72897159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01449024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.48, Z:-0.03 [[ 0.9999478 0.01021764 0. 9.74763555] [-0.01021764 0.9999478 0. -0.47826982] [ 0. 0. 1. -0.02813066] [ 0. 0. 0. 1. ]] SLAMing on 9.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.48, Z:-0.02 [[ 0.99991192 0.01327197 0. 9.80774357] [-0.01327197 0.99991192 0. -0.47878815] [ 0. 0. 1. -0.02438647] [ 0. 0. 0. 1. ]] SLAMing on 9.962320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.48, Z:-0.02 [[ 0.99986126 0.01665706 0. 9.86682235] [-0.01665706 0.99986126 0. -0.48050539] [ 0. 0. 1. -0.02320465] [ 0. 0. 0. 1. ]] SLAMing on 10.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.48, Z:-0.02 [[ 0.99980233 0.01988227 0. 9.92535316] [-0.01988227 0.99980233 0. -0.48011169] [ 0. 0. 1. -0.02261578] [ 0. 0. 0. 1. ]] SLAMing on 10.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.48, Z:-0.02 [[ 0.99961301 0.02781766 0. 9.98466184] [-0.02781766 0.99961301 0. -0.47666033] [ 0. 0. 1. -0.02252721] [ 0. 0. 0. 1. ]] SLAMing on 10.142320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.48, Z:-0.02 [[ 0.99945354 0.03305468 0. 10.04220574] [-0.03305468 0.99945354 0. -0.47648832] [ 0. 0. 1. -0.02197137] [ 0. 0. 0. 1. ]] SLAMing on 10.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.48, Z:-0.02 [[ 0.99944673 0.03326019 0. 10.10063604] [-0.03326019 0.99944673 0. -0.47550226] [ 0. 0. 1. -0.02296361] [ 0. 0. 0. 1. ]] SLAMing on 10.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.47, Z:-0.02 [[ 0.99946713 0.03264145 0. 10.15964257] [-0.03264145 0.99946713 0. -0.47329593] [ 0. 0. 1. -0.0205982 ] [ 0. 0. 0. 1. ]] SLAMing on 10.322320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.47, Z:-0.02 [[ 0.99947741 0.0323251 0. 10.21859831] [-0.0323251 0.99947741 0. -0.47307177] [ 0. 0. 1. -0.01962907] [ 0. 0. 0. 1. ]] SLAMing on 10.382320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.47, Z:-0.02 [[ 0.999452 0.03310145 0. 10.27704408] [-0.03310145 0.999452 0. -0.47071082] [ 0. 0. 1. -0.01956131] [ 0. 0. 0. 1. ]] SLAMing on 10.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.47, Z:-0.02 [[ 0.99929698 0.03749064 0. 10.33473526] [-0.03749064 0.99929698 0. -0.46875238] [ 0. 0. 1. -0.01924716] [ 0. 0. 0. 1. ]] SLAMing on 10.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.46, Z:-0.02 [[ 0.99890082 0.04687385 0. 10.39320301] [-0.04687385 0.99890082 0. -0.46312449] [ 0. 0. 1. -0.01708039] [ 0. 0. 0. 1. ]] SLAMing on 10.562320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.46, Z:-0.02 [[ 0.99840927 0.05638196 0. 10.45165004] [-0.05638196 0.99840927 0. -0.45615111] [ 0. 0. 1. -0.01581895] [ 0. 0. 0. 1. ]] SLAMing on 10.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.45, Z:-0.02 [[ 0.99809863 0.06163707 0. 10.5100787 ] [-0.06163707 0.99809863 0. -0.45054632] [ 0. 0. 1. -0.01542223] [ 0. 0. 0. 1. ]] SLAMing on 10.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.44, Z:-0.01 [[ 0.9974753 0.07101425 0. 10.56899827] [-0.07101425 0.9974753 0. -0.43521721] [ 0. 0. 1. -0.01234344] [ 0. 0. 0. 1. ]] SLAMing on 10.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.42, Z:-0.01 [[ 0.99696039 0.07791005 0. 10.62770107] [-0.07791005 0.99696039 0. -0.42020259] [ 0. 0. 1. -0.01193758] [ 0. 0. 0. 1. ]] SLAMing on 10.802320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.41, Z:-0.01 [[ 0.99690417 0.07862614 0. 10.6867661 ] [-0.07862614 0.99690417 0. -0.40548551] [ 0. 0. 1. -0.01145007] [ 0. 0. 0. 1. ]] SLAMing on 10.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.39, Z:-0.01 [[ 9.97513119e-01 7.04810363e-02 0.00000000e+00 1.07444701e+01] [-7.04810363e-02 9.97513119e-01 0.00000000e+00 -3.91034028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03506916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.39, Z:-0.01 [[ 9.98376793e-01 5.69541842e-02 0.00000000e+00 1.08027538e+01] [-5.69541842e-02 9.98376793e-01 0.00000000e+00 -3.87905259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03929519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.38, Z:-0.01 [[ 9.99079153e-01 4.29050856e-02 0.00000000e+00 1.08608124e+01] [-4.29050856e-02 9.99079153e-01 0.00000000e+00 -3.83995027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.91597848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.38, Z:-0.01 [[ 0.99950111 0.03158383 0. 10.9187557 ] [-0.03158383 0.99950111 0. -0.38081918] [ 0. 0. 1. -0.01245734] [ 0. 0. 0. 1. ]] SLAMing on 11.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.38, Z:-0.01 [[ 0.99972713 0.02335953 0. 10.9771305 ] [-0.02335953 0.99972713 0. -0.37802408] [ 0. 0. 1. -0.01208056] [ 0. 0. 0. 1. ]] SLAMing on 11.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.38, Z:-0.01 [[ 0.9999112 0.01332621 0. 11.0354053 ] [-0.01332621 0.9999112 0. -0.3821724 ] [ 0. 0. 1. -0.0124781 ] [ 0. 0. 0. 1. ]] SLAMing on 11.222320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.40, Z:-0.02 [[ 9.99999217e-01 1.25169442e-03 0.00000000e+00 1.10942511e+01] [-1.25169442e-03 9.99999217e-01 0.00000000e+00 -4.03009666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60374827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.41, Z:-0.02 [[ 9.99984077e-01 -5.64326927e-03 0.00000000e+00 1.11550346e+01] [ 5.64326927e-03 9.99984077e-01 0.00000000e+00 -4.06145847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75331359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.42, Z:-0.02 [[ 0.99991985 -0.01266098 0. 11.21627525] [ 0.01266098 0.99991985 0. -0.42477483] [ 0. 0. 1. -0.01904931] [ 0. 0. 0. 1. ]] SLAMing on 11.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.44, Z:-0.02 [[ 0.99988093 -0.01543152 0. 11.27949009] [ 0.01543152 0.99988093 0. -0.43827701] [ 0. 0. 1. -0.01673468] [ 0. 0. 0. 1. ]] SLAMing on 11.462320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.45, Z:-0.02 [[ 0.99989051 -0.01479778 0. 11.34253423] [ 0.01479778 0.99989051 0. -0.44953435] [ 0. 0. 1. -0.01814131] [ 0. 0. 0. 1. ]] SLAMing on 11.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.46, Z:-0.02 [[ 9.99939095e-01 -1.10365855e-02 0.00000000e+00 1.14058993e+01] [ 1.10365855e-02 9.99939095e-01 0.00000000e+00 -4.61033457e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90678163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.48, Z:-0.02 [[ 9.99989454e-01 -4.59258274e-03 0.00000000e+00 1.14677151e+01] [ 4.59258274e-03 9.99989454e-01 0.00000000e+00 -4.77002058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78398327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.49, Z:-0.02 [[ 9.99998103e-01 -1.94778470e-03 0.00000000e+00 1.15291019e+01] [ 1.94778470e-03 9.99998103e-01 0.00000000e+00 -4.89891785e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77100356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.50, Z:-0.02 [[ 9.99995690e-01 2.93596218e-03 0.00000000e+00 1.15900431e+01] [-2.93596218e-03 9.99995690e-01 0.00000000e+00 -4.96286026e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92795107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.50, Z:-0.02 [[ 9.99934303e-01 1.14625495e-02 0.00000000e+00 1.16500374e+01] [-1.14625495e-02 9.99934303e-01 0.00000000e+00 -5.03544761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72426449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.50, Z:-0.02 [[ 0.99968835 0.02496385 0. 11.7084402 ] [-0.02496385 0.99968835 0. -0.50381355] [ 0. 0. 1. -0.01509003] [ 0. 0. 0. 1. ]] SLAMing on 11.882320587999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.49, Z:-0.01 [[ 0.99901368 0.04440351 0. 11.76707874] [-0.04440351 0.99901368 0. -0.49348199] [ 0. 0. 1. -0.01397401] [ 0. 0. 0. 1. ]] SLAMing on 11.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.49, Z:-0.01 [[ 9.98776770e-01 4.94465664e-02 0.00000000e+00 1.18248848e+01] [-4.94465664e-02 9.98776770e-01 0.00000000e+00 -4.90897013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13862152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.49, Z:-0.01 [[ 9.99016601e-01 4.43376819e-02 0.00000000e+00 1.18837645e+01] [-4.43376819e-02 9.99016601e-01 0.00000000e+00 -4.90121598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01912165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.49, Z:-0.01 [[ 0.9995771 0.02907943 0. 11.94186288] [-0.02907943 0.9995771 0. -0.49059648] [ 0. 0. 1. -0.01299558] [ 0. 0. 0. 1. ]] SLAMing on 12.122320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.50, Z:-0.01 [[ 0.99981467 0.01925142 0. 12.0007263 ] [-0.01925142 0.99981467 0. -0.49676373] [ 0. 0. 1. -0.01322404] [ 0. 0. 0. 1. ]] SLAMing on 12.182320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.50, Z:-0.01 [[ 0.99992655 0.0121204 0. 12.05925169] [-0.0121204 0.99992655 0. -0.50414573] [ 0. 0. 1. -0.0121373 ] [ 0. 0. 0. 1. ]] SLAMing on 12.242320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.51, Z:-0.01 [[ 9.99966059e-01 8.23900327e-03 0.00000000e+00 1.21177823e+01] [-8.23900327e-03 9.99966059e-01 0.00000000e+00 -5.08693359e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01773501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302320587999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.52, Z:-0.01 [[ 9.99974843e-01 7.09317805e-03 0.00000000e+00 1.21773903e+01] [-7.09317805e-03 9.99974843e-01 0.00000000e+00 -5.15340787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12669553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.52, Z:-0.01 [[ 9.99976910e-01 6.79547463e-03 0.00000000e+00 1.22366436e+01] [-6.79547463e-03 9.99976910e-01 0.00000000e+00 -5.21706322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05221450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.53, Z:-0.01 [[ 9.99982380e-01 5.93626124e-03 0.00000000e+00 1.22963081e+01] [-5.93626124e-03 9.99982380e-01 0.00000000e+00 -5.27631921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27140139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.55, Z:-0.01 [[ 9.99996932e-01 -2.47710378e-03 0.00000000e+00 1.23555259e+01] [ 2.47710378e-03 9.99996932e-01 0.00000000e+00 -5.45968536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45224289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542320587999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.56, Z:-0.01 [[ 9.99952218e-01 -9.77556258e-03 0.00000000e+00 1.24154635e+01] [ 9.77556258e-03 9.99952218e-01 0.00000000e+00 -5.57416350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21914164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.57, Z:-0.01 [[ 0.99984376 -0.01767632 0. 12.47623379] [ 0.01767632 0.99984376 0. -0.5652637 ] [ 0. 0. 1. -0.01269562] [ 0. 0. 0. 1. ]] SLAMing on 12.662320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.59, Z:-0.01 [[ 9.99642666e-01 -2.67309028e-02 0.00000000e+00 1.25372732e+01] [ 2.67309028e-02 9.99642666e-01 0.00000000e+00 -5.85458281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35820301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.60, Z:-0.01 [[ 0.99969466 -0.02471019 0. 12.59902497] [ 0.02471019 0.99969466 0. -0.59738715] [ 0. 0. 1. -0.01483889] [ 0. 0. 0. 1. ]] SLAMing on 12.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.61, Z:-0.01 [[ 9.99745581e-01 -2.25560121e-02 0.00000000e+00 1.26603339e+01] [ 2.25560121e-02 9.99745581e-01 0.00000000e+00 -6.11890561e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09733667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.63, Z:-0.01 [[ 9.99922332e-01 -1.24631514e-02 0.00000000e+00 1.27212205e+01] [ 1.24631514e-02 9.99922332e-01 0.00000000e+00 -6.28796374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22271801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.64, Z:-0.01 [[ 9.99999729e-01 7.36383016e-04 0.00000000e+00 1.27821259e+01] [-7.36383016e-04 9.99999729e-01 0.00000000e+00 -6.36295431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23322414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.64, Z:-0.01 [[ 9.99889656e-01 1.48551455e-02 0.00000000e+00 1.28427078e+01] [-1.48551455e-02 9.99889656e-01 0.00000000e+00 -6.41410533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.48844438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.63, Z:-0.01 [[ 9.99459285e-01 3.28806500e-02 0.00000000e+00 1.29029839e+01] [-3.28806500e-02 9.99459285e-01 0.00000000e+00 -6.33950933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69318302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.63, Z:-0.01 [[ 9.99119221e-01 4.19616667e-02 0.00000000e+00 1.29632496e+01] [-4.19616667e-02 9.99119221e-01 0.00000000e+00 -6.29628944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36860030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.62, Z:-0.01 [[ 9.98679757e-01 5.13686888e-02 0.00000000e+00 1.30230623e+01] [-5.13686888e-02 9.98679757e-01 0.00000000e+00 -6.23754223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88644884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.62, Z:-0.01 [[ 9.98561656e-01 5.36154701e-02 0.00000000e+00 1.30815141e+01] [-5.36154701e-02 9.98561656e-01 0.00000000e+00 -6.16534958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13149417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.61, Z:-0.01 [[ 9.98753023e-01 4.99239327e-02 0.00000000e+00 1.31397667e+01] [-4.99239327e-02 9.98753023e-01 0.00000000e+00 -6.10830469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.40041691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.60, Z:-0.01 [[ 9.99018979e-01 4.42840733e-02 0.00000000e+00 1.31973885e+01] [-4.42840733e-02 9.99018979e-01 0.00000000e+00 -6.03741430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97256364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382320587999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.61, Z:-0.01 [[ 9.99310338e-01 3.71328553e-02 0.00000000e+00 1.32557830e+01] [-3.71328553e-02 9.99310338e-01 0.00000000e+00 -6.11294512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.54327812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.62, Z:-0.01 [[ 9.99718858e-01 2.37108577e-02 0.00000000e+00 1.33146995e+01] [-2.37108577e-02 9.99718858e-01 0.00000000e+00 -6.16262041e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79597847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.62, Z:-0.01 [[ 9.99845430e-01 1.75817005e-02 0.00000000e+00 1.33743888e+01] [-1.75817005e-02 9.99845430e-01 0.00000000e+00 -6.22344891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62105264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.63, Z:-0.01 [[ 9.99887175e-01 1.50211979e-02 0.00000000e+00 1.34335275e+01] [-1.50211979e-02 9.99887175e-01 0.00000000e+00 -6.34409675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62188943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.64, Z:-0.01 [[ 9.99878634e-01 1.55793647e-02 0.00000000e+00 1.34935832e+01] [-1.55793647e-02 9.99878634e-01 0.00000000e+00 -6.35815283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.95544830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.64, Z:-0.01 [[ 9.99866308e-01 1.63513286e-02 0.00000000e+00 1.35543038e+01] [-1.63513286e-02 9.99866308e-01 0.00000000e+00 -6.43161048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.73479524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.65, Z:-0.01 [[ 9.99894810e-01 1.45040841e-02 0.00000000e+00 1.36142912e+01] [-1.45040841e-02 9.99894810e-01 0.00000000e+00 -6.45494802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53591693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.65, Z:-0.01 [[ 9.99988577e-01 4.77970485e-03 0.00000000e+00 1.36749462e+01] [-4.77970485e-03 9.99988577e-01 0.00000000e+00 -6.53608447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.83112055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.67, Z:-0.01 [[ 9.99951486e-01 -9.85018855e-03 0.00000000e+00 1.37354601e+01] [ 9.85018855e-03 9.99951486e-01 0.00000000e+00 -6.67629079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49284284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.67, Z:-0.00 [[ 9.99941354e-01 -1.08299602e-02 0.00000000e+00 1.37954836e+01] [ 1.08299602e-02 9.99941354e-01 0.00000000e+00 -6.72071003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13047393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.68, Z:-0.01 [[ 9.99935875e-01 -1.13245454e-02 0.00000000e+00 1.38558261e+01] [ 1.13245454e-02 9.99935875e-01 0.00000000e+00 -6.76804486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28712006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.68, Z:-0.00 [[ 9.99960276e-01 -8.91325274e-03 0.00000000e+00 1.39161368e+01] [ 8.91325274e-03 9.99960276e-01 0.00000000e+00 -6.81422487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54918171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.69, Z:-0.01 [[ 9.99984993e-01 -5.47853888e-03 0.00000000e+00 1.39769076e+01] [ 5.47853888e-03 9.99984993e-01 0.00000000e+00 -6.86289541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.32003729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.69, Z:-0.01 [[ 9.99997005e-01 -2.44758474e-03 0.00000000e+00 1.40373855e+01] [ 2.44758474e-03 9.99997005e-01 0.00000000e+00 -6.88949173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99642224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.69, Z:-0.01 [[ 9.99974934e-01 7.08030075e-03 0.00000000e+00 1.40977989e+01] [-7.08030075e-03 9.99974934e-01 0.00000000e+00 -6.86371901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84927834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.68, Z:-0.00 [[ 9.99673857e-01 2.55378161e-02 0.00000000e+00 1.41586775e+01] [-2.55378161e-02 9.99673857e-01 0.00000000e+00 -6.77106853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42707996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.67, Z:-0.01 [[ 9.99405150e-01 3.44868886e-02 0.00000000e+00 1.42194745e+01] [-3.44868886e-02 9.99405150e-01 0.00000000e+00 -6.69861214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28178772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.66, Z:-0.01 [[ 9.99257930e-01 3.85173811e-02 0.00000000e+00 1.42791002e+01] [-3.85173811e-02 9.99257930e-01 0.00000000e+00 -6.60298837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01279664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.65, Z:-0.00 [[ 9.99386365e-01 3.50270307e-02 0.00000000e+00 1.43384919e+01] [-3.50270307e-02 9.99386365e-01 0.00000000e+00 -6.54584978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59266826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.65, Z:-0.00 [[ 9.99636985e-01 2.69424801e-02 0.00000000e+00 1.43978732e+01] [-2.69424801e-02 9.99636985e-01 0.00000000e+00 -6.52655993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35112728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.65, Z:-0.00 [[ 9.99914975e-01 1.30400418e-02 0.00000000e+00 1.44574200e+01] [-1.30400418e-02 9.99914975e-01 0.00000000e+00 -6.53873964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76556368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.65, Z:-0.01 [[ 9.99988376e-01 4.82168567e-03 0.00000000e+00 1.45181300e+01] [-4.82168567e-03 9.99988376e-01 0.00000000e+00 -6.54999300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23230059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.66, Z:-0.01 [[ 9.99999518e-01 -9.81705744e-04 0.00000000e+00 1.45789845e+01] [ 9.81705744e-04 9.99999518e-01 0.00000000e+00 -6.60276854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10622158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.67, Z:-0.01 [[ 9.99988388e-01 -4.81909792e-03 0.00000000e+00 1.46392577e+01] [ 4.81909792e-03 9.99988388e-01 0.00000000e+00 -6.65949388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25337292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.67, Z:-0.01 [[ 9.99991382e-01 -4.15156912e-03 0.00000000e+00 1.46998852e+01] [ 4.15156912e-03 9.99991382e-01 0.00000000e+00 -6.71781418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06349133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.68, Z:-0.01 [[ 9.99996348e-01 -2.70262591e-03 0.00000000e+00 1.47600317e+01] [ 2.70262591e-03 9.99996348e-01 0.00000000e+00 -6.77693518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76149467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.69, Z:-0.01 [[ 9.99997764e-01 -2.11463092e-03 0.00000000e+00 1.48203287e+01] [ 2.11463092e-03 9.99997764e-01 0.00000000e+00 -6.91586027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92825524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.70, Z:-0.00 [[ 9.99996109e-01 -2.78944206e-03 0.00000000e+00 1.48809081e+01] [ 2.78944206e-03 9.99996109e-01 0.00000000e+00 -6.98637777e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38942788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.70, Z:-0.00 [[ 9.99991844e-01 4.03875717e-03 0.00000000e+00 1.49414643e+01] [-4.03875717e-03 9.99991844e-01 0.00000000e+00 -6.96939158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59056472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.70, Z:-0.00 [[ 9.99855517e-01 1.69983866e-02 0.00000000e+00 1.50019796e+01] [-1.69983866e-02 9.99855517e-01 0.00000000e+00 -6.99284824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52679904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.70, Z:-0.00 [[ 9.99547359e-01 3.00844942e-02 0.00000000e+00 1.50628896e+01] [-3.00844942e-02 9.99547359e-01 0.00000000e+00 -6.97676814e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36342152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.70, Z:-0.00 [[ 9.99210046e-01 3.97402064e-02 0.00000000e+00 1.51232991e+01] [-3.97402064e-02 9.99210046e-01 0.00000000e+00 -6.99010832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71232883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.70, Z:-0.00 [[ 9.99341740e-01 3.62779057e-02 0.00000000e+00 1.51838822e+01] [-3.62779057e-02 9.99341740e-01 0.00000000e+00 -6.99785263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65739118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.70, Z:-0.01 [[ 9.99503558e-01 3.15061627e-02 0.00000000e+00 1.52443185e+01] [-3.15061627e-02 9.99503558e-01 0.00000000e+00 -6.98251862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38187015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.70, Z:-0.00 [[ 9.99543018e-01 3.02283748e-02 0.00000000e+00 1.53045901e+01] [-3.02283748e-02 9.99543018e-01 0.00000000e+00 -6.99320597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58911720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482320587999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.69, Z:-0.00 [[ 9.99449553e-01 3.31751638e-02 0.00000000e+00 1.53652826e+01] [-3.31751638e-02 9.99449553e-01 0.00000000e+00 -6.87850510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18871291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.69, Z:-0.00 [[ 9.99450241e-01 3.31544092e-02 0.00000000e+00 1.54253499e+01] [-3.31544092e-02 9.99450241e-01 0.00000000e+00 -6.87769194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26882021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.69, Z:-0.00 [[ 9.99584101e-01 2.88378941e-02 0.00000000e+00 1.54862699e+01] [-2.88378941e-02 9.99584101e-01 0.00000000e+00 -6.89642945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39003556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.69, Z:-0.00 [[ 9.99811772e-01 1.94015495e-02 0.00000000e+00 1.55468047e+01] [-1.94015495e-02 9.99811772e-01 0.00000000e+00 -6.89142610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14360067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.69, Z:-0.00 [[ 9.99918531e-01 1.27644557e-02 0.00000000e+00 1.56067574e+01] [-1.27644557e-02 9.99918531e-01 0.00000000e+00 -6.94064398e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39477815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.70, Z:-0.00 [[ 9.99952269e-01 9.77039603e-03 0.00000000e+00 1.56668676e+01] [-9.77039603e-03 9.99952269e-01 0.00000000e+00 -6.96150280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68632830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.70, Z:0.00 [[ 9.99930821e-01 1.17623353e-02 0.00000000e+00 1.57270149e+01] [-1.17623353e-02 9.99930821e-01 0.00000000e+00 -6.96436009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46989981e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.69, Z:0.00 [[ 9.99835355e-01 1.81455811e-02 0.00000000e+00 1.57870811e+01] [-1.81455811e-02 9.99835355e-01 0.00000000e+00 -6.93166400e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24879386e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962320587999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.69, Z:-0.00 [[ 9.99640234e-01 2.68216974e-02 0.00000000e+00 1.58478413e+01] [-2.68216974e-02 9.99640234e-01 0.00000000e+00 -6.92344106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21736738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.69, Z:-0.00 [[ 9.99554160e-01 2.98576803e-02 0.00000000e+00 1.59086595e+01] [-2.98576803e-02 9.99554160e-01 0.00000000e+00 -6.91386352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95839506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.69, Z:-0.00 [[ 9.99553526e-01 2.98788970e-02 0.00000000e+00 1.59693086e+01] [-2.98788970e-02 9.99553526e-01 0.00000000e+00 -6.89867556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12520525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.68, Z:0.00 [[ 9.99674833e-01 2.54995747e-02 0.00000000e+00 1.60294068e+01] [-2.54995747e-02 9.99674833e-01 0.00000000e+00 -6.83314972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09877617e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.68, Z:-0.00 [[ 9.99691748e-01 2.48275896e-02 0.00000000e+00 1.60888213e+01] [-2.48275896e-02 9.99691748e-01 0.00000000e+00 -6.79484567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80089750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.68, Z:-0.00 [[ 9.99630432e-01 2.71845333e-02 0.00000000e+00 1.61481318e+01] [-2.71845333e-02 9.99630432e-01 0.00000000e+00 -6.75405578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00292127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.68, Z:-0.00 [[ 9.99642773e-01 2.67268908e-02 0.00000000e+00 1.62072870e+01] [-2.67268908e-02 9.99642773e-01 0.00000000e+00 -6.84672521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79565072e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.69, Z:-0.00 [[ 9.99656263e-01 2.62174790e-02 0.00000000e+00 1.62666459e+01] [-2.62174790e-02 9.99656263e-01 0.00000000e+00 -6.85041610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97269323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.68, Z:0.00 [[ 9.99481329e-01 3.22036272e-02 0.00000000e+00 1.63266644e+01] [-3.22036272e-02 9.99481329e-01 0.00000000e+00 -6.82659739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00888338e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.67, Z:0.00 [[ 9.98967998e-01 4.54195800e-02 0.00000000e+00 1.63864572e+01] [-4.54195800e-02 9.98967998e-01 0.00000000e+00 -6.74536843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37680720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.67, Z:-0.00 [[ 9.98706610e-01 5.08439418e-02 0.00000000e+00 1.64453588e+01] [-5.08439418e-02 9.98706610e-01 0.00000000e+00 -6.70461868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82113145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.67, Z:-0.00 [[ 9.98799103e-01 4.89933925e-02 0.00000000e+00 1.65037094e+01] [-4.89933925e-02 9.98799103e-01 0.00000000e+00 -6.68971638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15359881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.66, Z:-0.00 [[ 9.99101582e-01 4.23795740e-02 0.00000000e+00 1.65627653e+01] [-4.23795740e-02 9.99101582e-01 0.00000000e+00 -6.57493465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07251717e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.65, Z:-0.00 [[ 9.99293722e-01 3.75773369e-02 0.00000000e+00 1.66215419e+01] [-3.75773369e-02 9.99293722e-01 0.00000000e+00 -6.50237292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18698662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.64, Z:-0.00 [[ 9.99227130e-01 3.93083040e-02 0.00000000e+00 1.66800254e+01] [-3.93083040e-02 9.99227130e-01 0.00000000e+00 -6.38450317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06633497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.62, Z:-0.00 [[ 9.99217688e-01 3.95475976e-02 0.00000000e+00 1.67384218e+01] [-3.95475976e-02 9.99217688e-01 0.00000000e+00 -6.24550867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.28131753e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.62, Z:-0.00 [[ 9.99684406e-01 2.51214786e-02 0.00000000e+00 1.67968025e+01] [-2.51214786e-02 9.99684406e-01 0.00000000e+00 -6.18890443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.88895276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.61, Z:-0.00 [[ 9.99998519e-01 -1.72132943e-03 0.00000000e+00 1.68561897e+01] [ 1.72132943e-03 9.99998519e-01 0.00000000e+00 -6.09746377e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40950132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.63, Z:-0.01 [[ 9.99862858e-01 -1.65609541e-02 0.00000000e+00 1.69165637e+01] [ 1.65609541e-02 9.99862858e-01 0.00000000e+00 -6.30822363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20421811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.65, Z:-0.00 [[ 9.99880179e-01 -1.54799099e-02 0.00000000e+00 1.69781876e+01] [ 1.54799099e-02 9.99880179e-01 0.00000000e+00 -6.50503393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54681148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.65, Z:-0.00 [[ 9.99953546e-01 9.63878372e-03 0.00000000e+00 1.70390435e+01] [-9.63878372e-03 9.99953546e-01 0.00000000e+00 -6.53384285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.96075063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.65, Z:-0.00 [[ 9.99865612e-01 1.63938655e-02 0.00000000e+00 1.70990495e+01] [-1.63938655e-02 9.99865612e-01 0.00000000e+00 -6.51116499e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05762592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.66, Z:-0.01 [[ 9.99762816e-01 2.17786786e-02 0.00000000e+00 1.71590706e+01] [-2.17786786e-02 9.99762816e-01 0.00000000e+00 -6.57293442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30468183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.65, Z:-0.00 [[ 9.99836431e-01 1.80862088e-02 0.00000000e+00 1.72184525e+01] [-1.80862088e-02 9.99836431e-01 0.00000000e+00 -6.53750809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34096632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.65, Z:-0.00 [[ 9.99945717e-01 1.04193348e-02 0.00000000e+00 1.72785272e+01] [-1.04193348e-02 9.99945717e-01 0.00000000e+00 -6.51427232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20876274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.66, Z:-0.00 [[ 9.99920671e-01 -1.25956756e-02 0.00000000e+00 1.73384078e+01] [ 1.25956756e-02 9.99920671e-01 0.00000000e+00 -6.63462448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85695915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.68, Z:-0.00 [[ 9.99943816e-01 -1.06002261e-02 0.00000000e+00 1.73997338e+01] [ 1.06002261e-02 9.99943816e-01 0.00000000e+00 -6.80042587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03583835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.68, Z:-0.00 [[ 9.99975944e-01 6.93618622e-03 0.00000000e+00 1.74604300e+01] [-6.93618622e-03 9.99975944e-01 0.00000000e+00 -6.79976646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15562241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.67, Z:-0.00 [[ 9.99905512e-01 1.37465204e-02 0.00000000e+00 1.75209153e+01] [-1.37465204e-02 9.99905512e-01 0.00000000e+00 -6.73035180e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89831484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.67, Z:-0.00 [[ 9.99989297e-01 4.62654746e-03 0.00000000e+00 1.75809213e+01] [-4.62654746e-03 9.99989297e-01 0.00000000e+00 -6.73149801e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98906275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762320587999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.68, Z:-0.00 [[ 9.99925383e-01 -1.22159079e-02 0.00000000e+00 1.76411715e+01] [ 1.22159079e-02 9.99925383e-01 0.00000000e+00 -6.76135216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92199532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.69, Z:-0.00 [[ 9.99762928e-01 -2.17735385e-02 0.00000000e+00 1.77025113e+01] [ 2.17735385e-02 9.99762928e-01 0.00000000e+00 -6.89877802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27906941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.70, Z:-0.00 [[ 9.99868863e-01 -1.61943160e-02 0.00000000e+00 1.77638126e+01] [ 1.61943160e-02 9.99868863e-01 0.00000000e+00 -6.99304881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33422850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.71, Z:-0.01 [[ 9.99886469e-01 -1.50681612e-02 0.00000000e+00 1.78242318e+01] [ 1.50681612e-02 9.99886469e-01 0.00000000e+00 -7.09814834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12490419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.71, Z:-0.00 [[ 9.99996491e-01 -2.64924872e-03 0.00000000e+00 1.78844728e+01] [ 2.64924872e-03 9.99996491e-01 0.00000000e+00 -7.12865475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52193782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.71, Z:-0.00 [[ 9.99845469e-01 1.75795023e-02 0.00000000e+00 1.79448326e+01] [-1.75795023e-02 9.99845469e-01 0.00000000e+00 -7.13022843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45220832e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.71, Z:-0.00 [[ 9.99650007e-01 2.64549424e-02 0.00000000e+00 1.80057167e+01] [-2.64549424e-02 9.99650007e-01 0.00000000e+00 -7.06573443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79981971e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.70, Z:-0.00 [[ 9.99597809e-01 2.83587776e-02 0.00000000e+00 1.80656678e+01] [-2.83587776e-02 9.99597809e-01 0.00000000e+00 -7.02006329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57887700e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.68, Z:-0.00 [[ 9.99539083e-01 3.03582318e-02 0.00000000e+00 1.81251651e+01] [-3.03582318e-02 9.99539083e-01 0.00000000e+00 -6.81806755e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20600523e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.66, Z:-0.00 [[ 9.99121852e-01 4.18989871e-02 0.00000000e+00 1.81843277e+01] [-4.18989871e-02 9.99121852e-01 0.00000000e+00 -6.61121256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76813142e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.66, Z:-0.00 [[ 9.99300589e-01 3.73942764e-02 0.00000000e+00 1.82431298e+01] [-3.73942764e-02 9.99300589e-01 0.00000000e+00 -6.56721672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46205058e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.63, Z:-0.00 [[ 9.99508284e-01 3.13558529e-02 0.00000000e+00 1.83023534e+01] [-3.13558529e-02 9.99508284e-01 0.00000000e+00 -6.34195533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42395266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.63, Z:0.00 [[ 9.99270509e-01 3.81896443e-02 0.00000000e+00 1.83600225e+01] [-3.81896443e-02 9.99270509e-01 0.00000000e+00 -6.28065385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75958952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.63, Z:-0.00 [[ 9.99645261e-01 2.66336528e-02 0.00000000e+00 1.84188656e+01] [-2.66336528e-02 9.99645261e-01 0.00000000e+00 -6.30537643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.86988835e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.63, Z:-0.00 [[ 9.99902334e-01 1.39757981e-02 0.00000000e+00 1.84772733e+01] [-1.39757981e-02 9.99902334e-01 0.00000000e+00 -6.25997292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85239768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.63, Z:-0.00 [[ 9.99986558e-01 5.18499907e-03 0.00000000e+00 1.85363796e+01] [-5.18499907e-03 9.99986558e-01 0.00000000e+00 -6.29804483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78332444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.64, Z:-0.00 [[ 9.99941605e-01 -1.08067480e-02 0.00000000e+00 1.85967551e+01] [ 1.08067480e-02 9.99941605e-01 0.00000000e+00 -6.36851132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21488235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.65, Z:-0.01 [[ 9.99502048e-01 -3.15540283e-02 0.00000000e+00 1.86581750e+01] [ 3.15540283e-02 9.99502048e-01 0.00000000e+00 -6.51197364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.86901528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.68, Z:-0.00 [[ 9.99011469e-01 -4.44531662e-02 0.00000000e+00 1.87206572e+01] [ 4.44531662e-02 9.99011469e-01 0.00000000e+00 -6.77359418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29715107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.71, Z:-0.00 [[ 9.98960411e-01 -4.55861516e-02 0.00000000e+00 1.87828881e+01] [ 4.55861516e-02 9.98960411e-01 0.00000000e+00 -7.10195169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20518923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.73, Z:-0.00 [[ 9.99335186e-01 -3.64580146e-02 0.00000000e+00 1.88444839e+01] [ 3.64580146e-02 9.99335186e-01 0.00000000e+00 -7.27034011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38884531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.75, Z:-0.00 [[ 9.99816212e-01 -1.91714134e-02 0.00000000e+00 1.89049990e+01] [ 1.91714134e-02 9.99816212e-01 0.00000000e+00 -7.53484940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49349403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.76, Z:-0.00 [[ 9.99989843e-01 -4.50710447e-03 0.00000000e+00 1.89659514e+01] [ 4.50710447e-03 9.99989843e-01 0.00000000e+00 -7.56207111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07772667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.75, Z:-0.00 [[ 9.99851227e-01 1.72488717e-02 0.00000000e+00 1.90252946e+01] [-1.72488717e-02 9.99851227e-01 0.00000000e+00 -7.50123130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35421278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.75, Z:0.00 [[ 9.99827168e-01 1.85912644e-02 0.00000000e+00 1.90859055e+01] [-1.85912644e-02 9.99827168e-01 0.00000000e+00 -7.48631412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68992989e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.74, Z:-0.00 [[ 9.99888026e-01 1.49644774e-02 0.00000000e+00 1.91468073e+01] [-1.49644774e-02 9.99888026e-01 0.00000000e+00 -7.39587213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17649919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.73, Z:-0.00 [[ 9.99968670e-01 7.91570561e-03 0.00000000e+00 1.92071680e+01] [-7.91570561e-03 9.99968670e-01 0.00000000e+00 -7.31932678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75721366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.73, Z:-0.01 [[ 9.99999975e-01 -2.22910192e-04 0.00000000e+00 1.92672764e+01] [ 2.22910192e-04 9.99999975e-01 0.00000000e+00 -7.29582745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97510159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.73, Z:-0.00 [[ 9.99998082e-01 1.95854283e-03 0.00000000e+00 1.93282981e+01] [-1.95854283e-03 9.99998082e-01 0.00000000e+00 -7.25017410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31459790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.72, Z:-0.00 [[ 9.99955928e-01 9.38837242e-03 0.00000000e+00 1.93888413e+01] [-9.38837242e-03 9.99955928e-01 0.00000000e+00 -7.20991247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02451419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.72, Z:-0.01 [[ 9.99971211e-01 7.58801918e-03 0.00000000e+00 1.94493589e+01] [-7.58801918e-03 9.99971211e-01 0.00000000e+00 -7.22807638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58095128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.72, Z:-0.00 [[ 9.99889906e-01 1.48383545e-02 0.00000000e+00 1.95101109e+01] [-1.48383545e-02 9.99889906e-01 0.00000000e+00 -7.19019048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65541065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.71, Z:-0.00 [[ 9.99603934e-01 2.81420405e-02 0.00000000e+00 1.95702086e+01] [-2.81420405e-02 9.99603934e-01 0.00000000e+00 -7.07672181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88882667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.68, Z:-0.00 [[ 9.99380274e-01 3.52004076e-02 0.00000000e+00 1.96294675e+01] [-3.52004076e-02 9.99380274e-01 0.00000000e+00 -6.84242317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95829120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.63, Z:-0.01 [[ 9.99716507e-01 2.38097843e-02 0.00000000e+00 1.96885167e+01] [-2.38097843e-02 9.99716507e-01 0.00000000e+00 -6.29429831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34826086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.63, Z:-0.01 [[ 9.99581805e-01 2.89173985e-02 0.00000000e+00 1.97462546e+01] [-2.89173985e-02 9.99581805e-01 0.00000000e+00 -6.29232896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40411636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.61, Z:-0.01 [[ 9.99317644e-01 3.69357161e-02 0.00000000e+00 1.98053095e+01] [-3.69357161e-02 9.99317644e-01 0.00000000e+00 -6.07712820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52176223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.62, Z:-0.01 [[ 9.99760820e-01 2.18701196e-02 0.00000000e+00 1.98629323e+01] [-2.18701196e-02 9.99760820e-01 0.00000000e+00 -6.20105128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39280534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.61, Z:-0.01 [[ 9.99987228e-01 5.05413190e-03 0.00000000e+00 1.99221798e+01] [-5.05413190e-03 9.99987228e-01 0.00000000e+00 -6.11013287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.36407292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.62, Z:-0.01 [[ 9.99997163e-01 2.38203448e-03 0.00000000e+00 1.99821641e+01] [-2.38203448e-03 9.99997163e-01 0.00000000e+00 -6.16269261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47083066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.62, Z:-0.01 [[ 9.99999368e-01 1.12393751e-03 0.00000000e+00 2.00429613e+01] [-1.12393751e-03 9.99999368e-01 0.00000000e+00 -6.22100189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18876544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.62, Z:-0.01 [[ 9.99997342e-01 2.30580841e-03 0.00000000e+00 2.01032427e+01] [-2.30580841e-03 9.99997342e-01 0.00000000e+00 -6.15684985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40529071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.62, Z:-0.01 [[ 9.99996532e-01 2.63372236e-03 0.00000000e+00 2.01637745e+01] [-2.63372236e-03 9.99996532e-01 0.00000000e+00 -6.18266831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15758797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.62, Z:-0.01 [[ 9.99964568e-01 8.41805001e-03 0.00000000e+00 2.02239346e+01] [-8.41805001e-03 9.99964568e-01 0.00000000e+00 -6.16246009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06170840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.61, Z:-0.01 [[ 9.99883924e-01 1.52360988e-02 0.00000000e+00 2.02839119e+01] [-1.52360988e-02 9.99883924e-01 0.00000000e+00 -6.09093449e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15552554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.60, Z:-0.01 [[ 9.99629341e-01 2.72246490e-02 0.00000000e+00 2.03427294e+01] [-2.72246490e-02 9.99629341e-01 0.00000000e+00 -6.02466464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62618369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.59, Z:-0.00 [[ 9.99453370e-01 3.30599522e-02 0.00000000e+00 2.04016666e+01] [-3.30599522e-02 9.99453370e-01 0.00000000e+00 -5.85643010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62005666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.57, Z:-0.01 [[ 9.99508723e-01 3.13418615e-02 0.00000000e+00 2.04608517e+01] [-3.13418615e-02 9.99508723e-01 0.00000000e+00 -5.67427371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97253120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.56, Z:-0.01 [[ 9.99695805e-01 2.46636806e-02 0.00000000e+00 2.05196431e+01] [-2.46636806e-02 9.99695805e-01 0.00000000e+00 -5.61147165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58448250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.56, Z:-0.01 [[ 9.99939495e-01 1.10003313e-02 0.00000000e+00 2.05781113e+01] [-1.10003313e-02 9.99939495e-01 0.00000000e+00 -5.59422483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68168003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.55, Z:-0.01 [[ 9.99991882e-01 4.02944723e-03 0.00000000e+00 2.06367395e+01] [-4.02944723e-03 9.99991882e-01 0.00000000e+00 -5.53958883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.40769590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.56, Z:-0.01 [[ 9.99955359e-01 -9.44879207e-03 0.00000000e+00 2.06962046e+01] [ 9.44879207e-03 9.99955359e-01 0.00000000e+00 -5.59454010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33782211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.57, Z:-0.01 [[ 9.99693877e-01 -2.47417035e-02 0.00000000e+00 2.07580624e+01] [ 2.47417035e-02 9.99693877e-01 0.00000000e+00 -5.73202737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44842332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.60, Z:-0.01 [[ 9.99400032e-01 -3.46348978e-02 0.00000000e+00 2.08199488e+01] [ 3.46348978e-02 9.99400032e-01 0.00000000e+00 -5.98246443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.77939869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.62, Z:-0.01 [[ 9.99621006e-01 -2.75289786e-02 0.00000000e+00 2.08823702e+01] [ 2.75289786e-02 9.99621006e-01 0.00000000e+00 -6.17053213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75278165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.64, Z:-0.01 [[ 9.99990126e-01 -4.44376211e-03 0.00000000e+00 2.09442399e+01] [ 4.44376211e-03 9.99990126e-01 0.00000000e+00 -6.36516905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83253636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122320587999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.64, Z:-0.01 [[ 9.99980719e-01 6.20977296e-03 0.00000000e+00 2.10043968e+01] [-6.20977296e-03 9.99980719e-01 0.00000000e+00 -6.42728835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02636085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.66, Z:-0.01 [[ 9.99978117e-01 6.61558481e-03 0.00000000e+00 2.10644020e+01] [-6.61558481e-03 9.99978117e-01 0.00000000e+00 -6.58072919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03812465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.65, Z:-0.01 [[ 9.99972713e-01 7.38741572e-03 0.00000000e+00 2.11244147e+01] [-7.38741572e-03 9.99972713e-01 0.00000000e+00 -6.52181376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04340523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.66, Z:-0.01 [[ 9.99969815e-01 7.76977628e-03 0.00000000e+00 2.11841262e+01] [-7.76977628e-03 9.99969815e-01 0.00000000e+00 -6.55895274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23904793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.65, Z:-0.01 [[ 9.99980450e-01 6.25291549e-03 0.00000000e+00 2.12434028e+01] [-6.25291549e-03 9.99980450e-01 0.00000000e+00 -6.53425168e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.14525670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.67, Z:-0.01 [[ 9.99991804e-01 4.04861592e-03 0.00000000e+00 2.13032132e+01] [-4.04861592e-03 9.99991804e-01 0.00000000e+00 -6.65974388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32167155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.67, Z:-0.00 [[ 9.99941303e-01 1.08347035e-02 0.00000000e+00 2.13638866e+01] [-1.08347035e-02 9.99941303e-01 0.00000000e+00 -6.70445464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53714695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.68, Z:-0.01 [[ 9.99829936e-01 1.84417817e-02 0.00000000e+00 2.14230842e+01] [-1.84417817e-02 9.99829936e-01 0.00000000e+00 -6.77340807e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25028128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.69, Z:-0.00 [[ 9.99833516e-01 1.82466292e-02 0.00000000e+00 2.14828496e+01] [-1.82466292e-02 9.99833516e-01 0.00000000e+00 -6.94276054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84933574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.68, Z:-0.01 [[ 9.99683153e-01 2.51713001e-02 0.00000000e+00 2.15426660e+01] [-2.51713001e-02 9.99683153e-01 0.00000000e+00 -6.76183144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67193703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.66, Z:-0.00 [[ 9.99257748e-01 3.85221167e-02 0.00000000e+00 2.16014160e+01] [-3.85221167e-02 9.99257748e-01 0.00000000e+00 -6.61658841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86084421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.66, Z:-0.00 [[ 9.99303762e-01 3.73094121e-02 0.00000000e+00 2.16593764e+01] [-3.73094121e-02 9.99303762e-01 0.00000000e+00 -6.58888958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07293671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.64, Z:-0.01 [[ 9.99771370e-01 2.13824360e-02 0.00000000e+00 2.17186696e+01] [-2.13824360e-02 9.99771370e-01 0.00000000e+00 -6.37564374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.60411917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.62, Z:-0.01 [[ 9.99930818e-01 1.17626222e-02 0.00000000e+00 2.17777567e+01] [-1.17626222e-02 9.99930818e-01 0.00000000e+00 -6.21210442e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97151284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.62, Z:-0.01 [[ 9.99985573e-01 -5.37152981e-03 0.00000000e+00 2.18376724e+01] [ 5.37152981e-03 9.99985573e-01 0.00000000e+00 -6.24364522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99132411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.64, Z:-0.01 [[ 9.99789548e-01 -2.05148819e-02 0.00000000e+00 2.18993968e+01] [ 2.05148819e-02 9.99789548e-01 0.00000000e+00 -6.35985444e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15544854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.96, Y:-0.64, Z:-0.01 [[ 9.99698692e-01 -2.45464065e-02 0.00000000e+00 2.19618418e+01] [ 2.45464065e-02 9.99698692e-01 0.00000000e+00 -6.39193246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27892021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.02, Y:-0.65, Z:-0.01 [[ 9.99858322e-01 -1.68326125e-02 0.00000000e+00 2.20244356e+01] [ 1.68326125e-02 9.99858322e-01 0.00000000e+00 -6.48456782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39143709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.65, Z:-0.01 [[ 9.99861613e-01 -1.66359637e-02 0.00000000e+00 2.20865526e+01] [ 1.66359637e-02 9.99861613e-01 0.00000000e+00 -6.54799488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.97697898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.68, Z:-0.01 [[ 9.99797428e-01 -2.01271606e-02 0.00000000e+00 2.21478979e+01] [ 2.01271606e-02 9.99797428e-01 0.00000000e+00 -6.79118342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06058339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.68, Z:-0.01 [[ 9.99814378e-01 -1.92667996e-02 0.00000000e+00 2.22102046e+01] [ 1.92667996e-02 9.99814378e-01 0.00000000e+00 -6.80424780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80796890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.68, Z:-0.01 [[ 9.99983480e-01 -5.74799840e-03 0.00000000e+00 2.22718524e+01] [ 5.74799840e-03 9.99983480e-01 0.00000000e+00 -6.83231208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27298681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.69, Z:-0.01 [[ 9.99991348e-01 4.15968835e-03 0.00000000e+00 2.23326721e+01] [-4.15968835e-03 9.99991348e-01 0.00000000e+00 -6.90074451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14529723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.70, Z:-0.01 [[ 9.99988926e-01 4.70605001e-03 0.00000000e+00 2.23935504e+01] [-4.70605001e-03 9.99988926e-01 0.00000000e+00 -6.96075804e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.13002387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.70, Z:-0.01 [[ 9.99975057e-01 7.06298552e-03 0.00000000e+00 2.24540191e+01] [-7.06298552e-03 9.99975057e-01 0.00000000e+00 -6.96644778e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11001736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.69, Z:-0.01 [[ 9.99875183e-01 1.57993126e-02 0.00000000e+00 2.25144746e+01] [-1.57993126e-02 9.99875183e-01 0.00000000e+00 -6.93869954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.28399256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.69, Z:-0.01 [[ 9.99687993e-01 2.49783361e-02 0.00000000e+00 2.25741757e+01] [-2.49783361e-02 9.99687993e-01 0.00000000e+00 -6.92424534e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88690650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.69, Z:-0.01 [[ 9.99635873e-01 2.69837323e-02 0.00000000e+00 2.26330844e+01] [-2.69837323e-02 9.99635873e-01 0.00000000e+00 -6.85971645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51818080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.68, Z:-0.01 [[ 9.99781585e-01 2.08993193e-02 0.00000000e+00 2.26920724e+01] [-2.08993193e-02 9.99781585e-01 0.00000000e+00 -6.84076262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12504578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.69, Z:-0.01 [[ 9.99930245e-01 1.18112049e-02 0.00000000e+00 2.27517004e+01] [-1.18112049e-02 9.99930245e-01 0.00000000e+00 -6.86117925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27456218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.68, Z:-0.01 [[ 9.99985386e-01 5.40626230e-03 0.00000000e+00 2.28113693e+01] [-5.40626230e-03 9.99985386e-01 0.00000000e+00 -6.84341899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18639286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.69, Z:-0.01 [[ 9.99998931e-01 -1.46227536e-03 0.00000000e+00 2.28718421e+01] [ 1.46227536e-03 9.99998931e-01 0.00000000e+00 -6.90555939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01921185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.71, Z:-0.01 [[ 9.99926582e-01 -1.21173547e-02 0.00000000e+00 2.29322589e+01] [ 1.21173547e-02 9.99926582e-01 0.00000000e+00 -7.10385073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.10032531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.72, Z:-0.01 [[ 9.99862950e-01 -1.65554023e-02 0.00000000e+00 2.29934288e+01] [ 1.65554023e-02 9.99862950e-01 0.00000000e+00 -7.16274179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63025120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.74, Z:-0.01 [[ 9.99820046e-01 -1.89703886e-02 0.00000000e+00 2.30534305e+01] [ 1.89703886e-02 9.99820046e-01 0.00000000e+00 -7.40447971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24345600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.75, Z:-0.02 [[ 9.99723796e-01 -2.35017395e-02 0.00000000e+00 2.31142145e+01] [ 2.35017395e-02 9.99723796e-01 0.00000000e+00 -7.54038345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81748877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.78, Z:-0.01 [[ 9.99490901e-01 -3.19051520e-02 0.00000000e+00 2.31742939e+01] [ 3.19051520e-02 9.99490901e-01 0.00000000e+00 -7.77561463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38754326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.79, Z:-0.01 [[ 9.99550043e-01 -2.99952052e-02 0.00000000e+00 2.32334809e+01] [ 2.99952052e-02 9.99550043e-01 0.00000000e+00 -7.92870921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43536719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.80, Z:-0.02 [[ 9.99689494e-01 -2.49181672e-02 0.00000000e+00 2.32932209e+01] [ 2.49181672e-02 9.99689494e-01 0.00000000e+00 -7.95457734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54901936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.81, Z:-0.02 [[ 9.99966238e-01 -8.21728640e-03 0.00000000e+00 2.33522055e+01] [ 8.21728640e-03 9.99966238e-01 0.00000000e+00 -8.14062623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57349199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.81, Z:-0.01 [[ 9.99999585e-01 9.11498953e-04 0.00000000e+00 2.34125040e+01] [-9.11498953e-04 9.99999585e-01 0.00000000e+00 -8.12771688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10208612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.81, Z:-0.02 [[ 9.99876062e-01 1.57436140e-02 0.00000000e+00 2.34727036e+01] [-1.57436140e-02 9.99876062e-01 0.00000000e+00 -8.08891121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53595791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.81, Z:-0.02 [[ 9.99684457e-01 2.51194409e-02 0.00000000e+00 2.35343917e+01] [-2.51194409e-02 9.99684457e-01 0.00000000e+00 -8.07803602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57635560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.80, Z:-0.02 [[ 9.99594351e-01 2.84803878e-02 0.00000000e+00 2.35956919e+01] [-2.84803878e-02 9.99594351e-01 0.00000000e+00 -8.04263202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54492125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.80, Z:-0.01 [[ 9.99445527e-01 3.32962172e-02 0.00000000e+00 2.36574493e+01] [-3.32962172e-02 9.99445527e-01 0.00000000e+00 -7.96653158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32876008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:23.72, Y:-0.79, Z:-0.01 [[ 9.99574443e-01 2.91707704e-02 0.00000000e+00 2.37189337e+01] [-2.91707704e-02 9.99574443e-01 0.00000000e+00 -7.91588735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40566560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.79, Z:-0.01 [[ 9.99697311e-01 2.46025586e-02 0.00000000e+00 2.37797971e+01] [-2.46025586e-02 9.99697311e-01 0.00000000e+00 -7.90075379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46784837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942320587999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.79, Z:-0.01 [[ 9.99813412e-01 1.93168826e-02 0.00000000e+00 2.38412319e+01] [-1.93168826e-02 9.99813412e-01 0.00000000e+00 -7.85481641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15352456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.78, Z:-0.01 [[ 9.99895311e-01 1.44695273e-02 0.00000000e+00 2.39013660e+01] [-1.44695273e-02 9.99895311e-01 0.00000000e+00 -7.84567197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54159186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.78, Z:-0.02 [[ 9.99939101e-01 1.10360346e-02 0.00000000e+00 2.39621834e+01] [-1.10360346e-02 9.99939101e-01 0.00000000e+00 -7.81386505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59695768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.79, Z:-0.01 [[ 9.99939683e-01 1.09831859e-02 0.00000000e+00 2.40225583e+01] [-1.09831859e-02 9.99939683e-01 0.00000000e+00 -7.85695584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47321971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.79, Z:-0.01 [[ 9.99947487e-01 1.02481120e-02 0.00000000e+00 2.40835357e+01] [-1.02481120e-02 9.99947487e-01 0.00000000e+00 -7.85823226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86953502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.78, Z:-0.01 [[ 9.99901047e-01 1.40675629e-02 0.00000000e+00 2.41442628e+01] [-1.40675629e-02 9.99901047e-01 0.00000000e+00 -7.83176381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25375946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.78, Z:-0.01 [[ 9.99841197e-01 1.78207944e-02 0.00000000e+00 2.42045111e+01] [-1.78207944e-02 9.99841197e-01 0.00000000e+00 -7.79141558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14499001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.77, Z:-0.01 [[ 9.99679244e-01 2.53260709e-02 0.00000000e+00 2.42651922e+01] [-2.53260709e-02 9.99679244e-01 0.00000000e+00 -7.67078964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.50474209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.77, Z:-0.01 [[ 9.99657629e-01 2.61653234e-02 0.00000000e+00 2.43252281e+01] [-2.61653234e-02 9.99657629e-01 0.00000000e+00 -7.66654989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47087302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.77, Z:-0.01 [[ 9.99877881e-01 1.56276212e-02 0.00000000e+00 2.43857885e+01] [-1.56276212e-02 9.99877881e-01 0.00000000e+00 -7.68541523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08269234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.76, Z:-0.01 [[ 9.99966278e-01 8.21239592e-03 0.00000000e+00 2.44464925e+01] [-8.21239592e-03 9.99966278e-01 0.00000000e+00 -7.62929346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32189816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.76, Z:-0.01 [[ 9.99999126e-01 -1.32231674e-03 0.00000000e+00 2.45071326e+01] [ 1.32231674e-03 9.99999126e-01 0.00000000e+00 -7.59726354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09131831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.76, Z:-0.01 [[ 9.99997517e-01 -2.22860888e-03 0.00000000e+00 2.45676316e+01] [ 2.22860888e-03 9.99997517e-01 0.00000000e+00 -7.56547331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28448857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.76, Z:-0.01 [[ 9.99998586e-01 -1.68177705e-03 0.00000000e+00 2.46282190e+01] [ 1.68177705e-03 9.99998586e-01 0.00000000e+00 -7.62069361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42560744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.76, Z:-0.01 [[ 9.99999938e-01 3.51288486e-04 0.00000000e+00 2.46883102e+01] [-3.51288486e-04 9.99999938e-01 0.00000000e+00 -7.57790901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25391725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.76, Z:-0.01 [[ 9.99997941e-01 2.02936434e-03 0.00000000e+00 2.47486654e+01] [-2.02936434e-03 9.99997941e-01 0.00000000e+00 -7.59713859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37224788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.76, Z:-0.01 [[ 9.99999955e-01 2.98834485e-04 0.00000000e+00 2.48089330e+01] [-2.98834485e-04 9.99999955e-01 0.00000000e+00 -7.64594106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44486329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.76, Z:-0.02 [[ 9.99998065e-01 1.96733697e-03 0.00000000e+00 2.48699893e+01] [-1.96733697e-03 9.99998065e-01 0.00000000e+00 -7.58916752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66469433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.76, Z:-0.02 [[ 9.99975812e-01 6.95517735e-03 0.00000000e+00 2.49304905e+01] [-6.95517735e-03 9.99975812e-01 0.00000000e+00 -7.59622243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75248603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.76, Z:-0.01 [[ 9.99937946e-01 1.11401779e-02 0.00000000e+00 2.49911934e+01] [-1.11401779e-02 9.99937946e-01 0.00000000e+00 -7.59551054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48985409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.76, Z:-0.01 [[ 9.99925796e-01 1.21820320e-02 0.00000000e+00 2.50517742e+01] [-1.21820320e-02 9.99925796e-01 0.00000000e+00 -7.61268787e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21408703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.75, Z:-0.01 [[ 9.99903835e-01 1.38679663e-02 0.00000000e+00 2.51121300e+01] [-1.38679663e-02 9.99903835e-01 0.00000000e+00 -7.49102929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36379062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.74, Z:-0.01 [[ 9.99869839e-01 1.61339714e-02 0.00000000e+00 2.51723030e+01] [-1.61339714e-02 9.99869839e-01 0.00000000e+00 -7.43249484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44933710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.74, Z:-0.01 [[ 9.99776994e-01 2.11177987e-02 0.00000000e+00 2.52323724e+01] [-2.11177987e-02 9.99776994e-01 0.00000000e+00 -7.42440737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30906652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.74, Z:-0.01 [[ 9.99747923e-01 2.24519575e-02 0.00000000e+00 2.52925081e+01] [-2.24519575e-02 9.99747923e-01 0.00000000e+00 -7.36875831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29864200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.74, Z:-0.01 [[ 9.99753956e-01 2.21816791e-02 0.00000000e+00 2.53521691e+01] [-2.21816791e-02 9.99753956e-01 0.00000000e+00 -7.35046867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36255644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.73, Z:-0.01 [[ 9.99726399e-01 2.33907430e-02 0.00000000e+00 2.54113843e+01] [-2.33907430e-02 9.99726399e-01 0.00000000e+00 -7.31298371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30719304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.72, Z:-0.01 [[ 9.99777687e-01 2.10849885e-02 0.00000000e+00 2.54709222e+01] [-2.10849885e-02 9.99777687e-01 0.00000000e+00 -7.24168589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24053130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.73, Z:-0.01 [[ 9.99835958e-01 1.81123566e-02 0.00000000e+00 2.55302024e+01] [-1.81123566e-02 9.99835958e-01 0.00000000e+00 -7.26773277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22804241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.73, Z:-0.01 [[ 9.99996722e-01 2.56035804e-03 0.00000000e+00 2.55900492e+01] [-2.56035804e-03 9.99996722e-01 0.00000000e+00 -7.32424557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21414334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.74, Z:-0.01 [[ 9.99944093e-01 -1.05740943e-02 0.00000000e+00 2.56501584e+01] [ 1.05740943e-02 9.99944093e-01 0.00000000e+00 -7.40391498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33578306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.75, Z:-0.01 [[ 9.99849741e-01 -1.73348281e-02 0.00000000e+00 2.57106464e+01] [ 1.73348281e-02 9.99849741e-01 0.00000000e+00 -7.50728533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06279875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.76, Z:-0.02 [[ 9.99857392e-01 -1.68877191e-02 0.00000000e+00 2.57707958e+01] [ 1.68877191e-02 9.99857392e-01 0.00000000e+00 -7.55139128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83718542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.77, Z:-0.02 [[ 9.99835811e-01 -1.81204452e-02 0.00000000e+00 2.58313974e+01] [ 1.81204452e-02 9.99835811e-01 0.00000000e+00 -7.67311927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50090327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.78, Z:-0.02 [[ 9.99733708e-01 -2.30762328e-02 0.00000000e+00 2.58921607e+01] [ 2.30762328e-02 9.99733708e-01 0.00000000e+00 -7.75745038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73760662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.79, Z:-0.02 [[ 9.99738413e-01 -2.28714986e-02 0.00000000e+00 2.59528796e+01] [ 2.28714986e-02 9.99738413e-01 0.00000000e+00 -7.85157798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03793205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.80, Z:-0.02 [[ 9.99794138e-01 -2.02899149e-02 0.00000000e+00 2.60123414e+01] [ 2.02899149e-02 9.99794138e-01 0.00000000e+00 -7.98067301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78821362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.81, Z:-0.02 [[ 9.99892910e-01 -1.46345079e-02 0.00000000e+00 2.60722971e+01] [ 1.46345079e-02 9.99892910e-01 0.00000000e+00 -8.09119576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88619867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.81, Z:-0.02 [[ 9.99999867e-01 -5.15931336e-04 0.00000000e+00 2.61320570e+01] [ 5.15931336e-04 9.99999867e-01 0.00000000e+00 -8.08838287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54460545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.82, Z:-0.02 [[ 9.99954630e-01 9.52559870e-03 0.00000000e+00 2.61922014e+01] [-9.52559870e-03 9.99954630e-01 0.00000000e+00 -8.15141583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90342543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.82, Z:-0.02 [[ 9.99941528e-01 1.08138761e-02 0.00000000e+00 2.62530831e+01] [-1.08138761e-02 9.99941528e-01 0.00000000e+00 -8.15435555e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12113189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.81, Z:-0.02 [[ 9.99883530e-01 1.52619481e-02 0.00000000e+00 2.63137031e+01] [-1.52619481e-02 9.99883530e-01 0.00000000e+00 -8.11193863e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95784883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.82, Z:-0.02 [[ 9.99879971e-01 1.54933395e-02 0.00000000e+00 2.63752654e+01] [-1.54933395e-02 9.99879971e-01 0.00000000e+00 -8.22663907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96429564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.82, Z:-0.02 [[ 9.99853372e-01 1.71240776e-02 0.00000000e+00 2.64368280e+01] [-1.71240776e-02 9.99853372e-01 0.00000000e+00 -8.22186206e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78000042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.82, Z:-0.02 [[ 9.99722917e-01 2.35390844e-02 0.00000000e+00 2.64984079e+01] [-2.35390844e-02 9.99722917e-01 0.00000000e+00 -8.18922396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94401417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.82, Z:-0.02 [[ 9.99610733e-01 2.78995146e-02 0.00000000e+00 2.65593695e+01] [-2.78995146e-02 9.99610733e-01 0.00000000e+00 -8.16556537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04380443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.82, Z:-0.02 [[ 9.99632786e-01 2.70978290e-02 0.00000000e+00 2.66210686e+01] [-2.70978290e-02 9.99632786e-01 0.00000000e+00 -8.17419718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80799308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.81, Z:-0.02 [[ 9.99721801e-01 2.35864477e-02 0.00000000e+00 2.66826764e+01] [-2.35864477e-02 9.99721801e-01 0.00000000e+00 -8.13432828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21464764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.81, Z:-0.02 [[ 9.99807183e-01 1.96366067e-02 0.00000000e+00 2.67441286e+01] [-1.96366067e-02 9.99807183e-01 0.00000000e+00 -8.13435532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90323439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.81, Z:-0.02 [[ 9.99831528e-01 1.83552353e-02 0.00000000e+00 2.68057662e+01] [-1.83552353e-02 9.99831528e-01 0.00000000e+00 -8.05495048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84315410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.81, Z:-0.02 [[ 9.99817412e-01 1.91087058e-02 0.00000000e+00 2.68666284e+01] [-1.91087058e-02 9.99817412e-01 0.00000000e+00 -8.05172972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94969997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.79, Z:-0.02 [[ 9.99806897e-01 1.96511941e-02 0.00000000e+00 2.69270092e+01] [-1.96511941e-02 9.99806897e-01 0.00000000e+00 -7.94196481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84781032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.80, Z:-0.02 [[ 9.99915138e-01 1.30275098e-02 0.00000000e+00 2.69884775e+01] [-1.30275098e-02 9.99915138e-01 0.00000000e+00 -8.02880783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90978958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.80, Z:-0.02 [[ 9.99998100e-01 -1.94940298e-03 0.00000000e+00 2.70494278e+01] [ 1.94940298e-03 9.99998100e-01 0.00000000e+00 -8.01498051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70980709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.81, Z:-0.02 [[ 9.99923348e-01 -1.23813264e-02 0.00000000e+00 2.71097450e+01] [ 1.23813264e-02 9.99923348e-01 0.00000000e+00 -8.08709703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73454496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.82, Z:-0.02 [[ 9.99783495e-01 -2.08077588e-02 0.00000000e+00 2.71705096e+01] [ 2.08077588e-02 9.99783495e-01 0.00000000e+00 -8.21598983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96146726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.83, Z:-0.02 [[ 9.99818689e-01 -1.90417706e-02 0.00000000e+00 2.72299360e+01] [ 1.90417706e-02 9.99818689e-01 0.00000000e+00 -8.28581363e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86767756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.83, Z:-0.02 [[ 9.99918829e-01 -1.27410587e-02 0.00000000e+00 2.72891938e+01] [ 1.27410587e-02 9.99918829e-01 0.00000000e+00 -8.31652018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85475349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.85, Z:-0.02 [[ 9.99922924e-01 -1.24155833e-02 0.00000000e+00 2.73484890e+01] [ 1.24155833e-02 9.99922924e-01 0.00000000e+00 -8.46722170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03244706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.85, Z:-0.02 [[ 9.99899903e-01 -1.41486588e-02 0.00000000e+00 2.74083881e+01] [ 1.41486588e-02 9.99899903e-01 0.00000000e+00 -8.52292702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99761402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.86, Z:-0.02 [[ 9.99833626e-01 -1.82405979e-02 0.00000000e+00 2.74682326e+01] [ 1.82405979e-02 9.99833626e-01 0.00000000e+00 -8.59602063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13657835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:-0.87, Z:-0.02 [[ 9.99813439e-01 -1.93154860e-02 0.00000000e+00 2.75273400e+01] [ 1.93154860e-02 9.99813439e-01 0.00000000e+00 -8.70969594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03926187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.87, Z:-0.02 [[ 9.99993038e-01 -3.73160218e-03 0.00000000e+00 2.75866492e+01] [ 3.73160218e-03 9.99993038e-01 0.00000000e+00 -8.71557201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14112018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.87, Z:-0.02 [[ 9.99896119e-01 1.44136070e-02 0.00000000e+00 2.76471346e+01] [-1.44136070e-02 9.99896119e-01 0.00000000e+00 -8.69688609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11626466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.86, Z:-0.02 [[ 9.99329514e-01 3.66131541e-02 0.00000000e+00 2.77084380e+01] [-3.66131541e-02 9.99329514e-01 0.00000000e+00 -8.62353587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91922693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.86, Z:-0.02 [[ 9.99151037e-01 4.11971589e-02 0.00000000e+00 2.77705335e+01] [-4.11971589e-02 9.99151037e-01 0.00000000e+00 -8.55833460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94380777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.84, Z:-0.02 [[ 9.99237687e-01 3.90390200e-02 0.00000000e+00 2.78325808e+01] [-3.90390200e-02 9.99237687e-01 0.00000000e+00 -8.40197243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84131505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.84, Z:-0.02 [[ 9.99459512e-01 3.28737691e-02 0.00000000e+00 2.78950004e+01] [-3.28737691e-02 9.99459512e-01 0.00000000e+00 -8.37025313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04916792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.83, Z:-0.02 [[ 9.99547109e-01 3.00928059e-02 0.00000000e+00 2.79562810e+01] [-3.00928059e-02 9.99547109e-01 0.00000000e+00 -8.30720462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92876715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.84, Z:-0.02 [[ 9.99804076e-01 1.97941975e-02 0.00000000e+00 2.80189127e+01] [-1.97941975e-02 9.99804076e-01 0.00000000e+00 -8.36043879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88148498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.08, Y:-0.84, Z:-0.02 [[ 9.99934939e-01 1.14069154e-02 0.00000000e+00 2.80802553e+01] [-1.14069154e-02 9.99934939e-01 0.00000000e+00 -8.37103627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04973401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.14, Y:-0.84, Z:-0.02 [[ 9.99999651e-01 8.35597420e-04 0.00000000e+00 2.81419846e+01] [-8.35597420e-04 9.99999651e-01 0.00000000e+00 -8.42136788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03409501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.85, Z:-0.02 [[ 9.99999771e-01 6.76820348e-04 0.00000000e+00 2.82026945e+01] [-6.76820348e-04 9.99999771e-01 0.00000000e+00 -8.46244668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87970960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.26, Y:-0.85, Z:-0.02 [[ 9.99999851e-01 -5.46570940e-04 0.00000000e+00 2.82636216e+01] [ 5.46570940e-04 9.99999851e-01 0.00000000e+00 -8.51165016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80798312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.32, Y:-0.86, Z:-0.02 [[ 9.99968383e-01 -7.95186082e-03 0.00000000e+00 2.83245118e+01] [ 7.95186082e-03 9.99968383e-01 0.00000000e+00 -8.62161269e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04435698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.38, Y:-0.87, Z:-0.02 [[ 9.99956564e-01 -9.32041792e-03 0.00000000e+00 2.83843028e+01] [ 9.32041792e-03 9.99956564e-01 0.00000000e+00 -8.70307918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22404968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.44, Y:-0.88, Z:-0.02 [[ 9.99974416e-01 -7.15309818e-03 0.00000000e+00 2.84443625e+01] [ 7.15309818e-03 9.99974416e-01 0.00000000e+00 -8.76464790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16838017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.50, Y:-0.88, Z:-0.02 [[ 9.99999751e-01 -7.05958516e-04 0.00000000e+00 2.85036018e+01] [ 7.05958516e-04 9.99999751e-01 0.00000000e+00 -8.82086128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01801773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.89, Z:-0.02 [[ 9.99934967e-01 1.14044446e-02 0.00000000e+00 2.85642677e+01] [-1.14044446e-02 9.99934967e-01 0.00000000e+00 -8.93252745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88454381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.89, Z:-0.02 [[ 9.99702538e-01 2.43892546e-02 0.00000000e+00 2.86259078e+01] [-2.43892546e-02 9.99702538e-01 0.00000000e+00 -8.94972312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34526175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.89, Z:-0.02 [[ 9.99511228e-01 3.12618943e-02 0.00000000e+00 2.86881841e+01] [-3.12618943e-02 9.99511228e-01 0.00000000e+00 -8.93639545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99760846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:-0.88, Z:-0.02 [[ 9.99265590e-01 3.83181589e-02 0.00000000e+00 2.87499662e+01] [-3.83181589e-02 9.99265590e-01 0.00000000e+00 -8.83620092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81132290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.88, Z:-0.02 [[ 9.99062882e-01 4.32822962e-02 0.00000000e+00 2.88124546e+01] [-4.32822962e-02 9.99062882e-01 0.00000000e+00 -8.84802660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87909156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.87, Y:-0.86, Z:-0.02 [[ 9.99013663e-01 4.44038453e-02 0.00000000e+00 2.88748073e+01] [-4.44038453e-02 9.99013663e-01 0.00000000e+00 -8.62993806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19999271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.85, Z:-0.02 [[ 9.98851571e-01 4.79117878e-02 0.00000000e+00 2.89365851e+01] [-4.79117878e-02 9.98851571e-01 0.00000000e+00 -8.48996971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11551485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.84, Z:-0.02 [[ 9.98860822e-01 4.77185214e-02 0.00000000e+00 2.89990756e+01] [-4.77185214e-02 9.98860822e-01 0.00000000e+00 -8.43053463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66884636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.84, Z:-0.02 [[ 9.99231790e-01 3.91896755e-02 0.00000000e+00 2.90609990e+01] [-3.91896755e-02 9.99231790e-01 0.00000000e+00 -8.38663759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75229128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.82, Z:-0.02 [[ 9.99463559e-01 3.27504733e-02 0.00000000e+00 2.91230627e+01] [-3.27504733e-02 9.99463559e-01 0.00000000e+00 -8.24586486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32476166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.82, Z:-0.02 [[ 9.99578820e-01 2.90203906e-02 0.00000000e+00 2.91847135e+01] [-2.90203906e-02 9.99578820e-01 0.00000000e+00 -8.21272366e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99623599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.82, Z:-0.01 [[ 9.99662992e-01 2.59596405e-02 0.00000000e+00 2.92461446e+01] [-2.59596405e-02 9.99662992e-01 0.00000000e+00 -8.20389674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23422502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.82, Z:-0.02 [[ 9.99903933e-01 1.38608892e-02 0.00000000e+00 2.93076537e+01] [-1.38608892e-02 9.99903933e-01 0.00000000e+00 -8.15329142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97489276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.82, Z:-0.02 [[ 9.99958462e-01 9.11448985e-03 0.00000000e+00 2.93679728e+01] [-9.11448985e-03 9.99958462e-01 0.00000000e+00 -8.15203169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23102728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.82, Z:-0.02 [[ 9.99999956e-01 -2.98182850e-04 0.00000000e+00 2.94287850e+01] [ 2.98182850e-04 9.99999956e-01 0.00000000e+00 -8.21291340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14420378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.82, Z:-0.02 [[ 9.99989518e-01 -4.57865531e-03 0.00000000e+00 2.94891313e+01] [ 4.57865531e-03 9.99989518e-01 0.00000000e+00 -8.22672608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84173954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.82, Z:-0.02 [[ 9.99987531e-01 -4.99371328e-03 0.00000000e+00 2.95492196e+01] [ 4.99371328e-03 9.99987531e-01 0.00000000e+00 -8.24436881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75651183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.83, Z:-0.02 [[ 9.99990761e-01 4.29852590e-03 0.00000000e+00 2.96101540e+01] [-4.29852590e-03 9.99990761e-01 0.00000000e+00 -8.28329232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89249080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:-0.83, Z:-0.02 [[ 9.99948836e-01 1.01156258e-02 0.00000000e+00 2.96710676e+01] [-1.01156258e-02 9.99948836e-01 0.00000000e+00 -8.25607128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20967073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.83, Z:-0.02 [[ 9.99955096e-01 9.47654955e-03 0.00000000e+00 2.97318306e+01] [-9.47654955e-03 9.99955096e-01 0.00000000e+00 -8.28744472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27352558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.83, Z:-0.02 [[ 9.99969562e-01 7.80228981e-03 0.00000000e+00 2.97930406e+01] [-7.80228981e-03 9.99969562e-01 0.00000000e+00 -8.34136234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85910632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.83, Z:-0.02 [[ 9.99912995e-01 1.31909775e-02 0.00000000e+00 2.98536168e+01] [-1.31909775e-02 9.99912995e-01 0.00000000e+00 -8.31607541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80033891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.83, Z:-0.02 [[ 9.99727914e-01 2.33258933e-02 0.00000000e+00 2.99153019e+01] [-2.33258933e-02 9.99727914e-01 0.00000000e+00 -8.25806820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23982027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.82, Z:-0.02 [[ 9.99255952e-01 3.85686804e-02 0.00000000e+00 2.99755383e+01] [-3.85686804e-02 9.99255952e-01 0.00000000e+00 -8.15607501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18662914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.81, Z:-0.02 [[ 9.99041242e-01 4.37789437e-02 0.00000000e+00 3.00372629e+01] [-4.37789437e-02 9.99041242e-01 0.00000000e+00 -8.14549375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79606666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.81, Z:-0.02 [[ 9.99003116e-01 4.46404939e-02 0.00000000e+00 3.00983051e+01] [-4.46404939e-02 9.99003116e-01 0.00000000e+00 -8.10817080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83268071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.80, Z:-0.02 [[ 9.98756737e-01 4.98495838e-02 0.00000000e+00 3.01591846e+01] [-4.98495838e-02 9.98756737e-01 0.00000000e+00 -7.96581272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92506023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.79, Z:-0.02 [[ 9.98515833e-01 5.44622048e-02 0.00000000e+00 3.02201237e+01] [-5.44622048e-02 9.98515833e-01 0.00000000e+00 -7.86030256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86788123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.78, Z:-0.02 [[ 9.98738541e-01 5.02128162e-02 0.00000000e+00 3.02809019e+01] [-5.02128162e-02 9.98738541e-01 0.00000000e+00 -7.76667477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56887604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.78, Z:-0.01 [[ 9.99194456e-01 4.01302818e-02 0.00000000e+00 3.03413713e+01] [-4.01302818e-02 9.99194456e-01 0.00000000e+00 -7.76102160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41728065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.77, Z:-0.02 [[ 9.99689194e-01 2.49302047e-02 0.00000000e+00 3.04014029e+01] [-2.49302047e-02 9.99689194e-01 0.00000000e+00 -7.72410005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29218881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.77, Z:-0.02 [[ 9.99792448e-01 2.03730457e-02 0.00000000e+00 3.04622703e+01] [-2.03730457e-02 9.99792448e-01 0.00000000e+00 -7.66220463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06837462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.76, Z:-0.02 [[ 9.99861929e-01 1.66169310e-02 0.00000000e+00 3.05223436e+01] [-1.66169310e-02 9.99861929e-01 0.00000000e+00 -7.64541184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90434830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.58, Y:-0.77, Z:-0.02 [[ 9.99914912e-01 1.30448797e-02 0.00000000e+00 3.05832140e+01] [-1.30448797e-02 9.99914912e-01 0.00000000e+00 -7.65979592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87252930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.64, Y:-0.75, Z:-0.02 [[ 9.99898875e-01 1.42211279e-02 0.00000000e+00 3.06436789e+01] [-1.42211279e-02 9.99898875e-01 0.00000000e+00 -7.52121956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05951592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.70, Y:-0.75, Z:-0.02 [[ 9.99914327e-01 1.30896458e-02 0.00000000e+00 3.07043063e+01] [-1.30896458e-02 9.99914327e-01 0.00000000e+00 -7.51609119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26518841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.77, Z:-0.02 [[ 9.99980709e-01 6.21137418e-03 0.00000000e+00 3.07652030e+01] [-6.21137418e-03 9.99980709e-01 0.00000000e+00 -7.65322852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10652450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.77, Z:-0.02 [[ 9.99998510e-01 -1.72649936e-03 0.00000000e+00 3.08255345e+01] [ 1.72649936e-03 9.99998510e-01 0.00000000e+00 -7.67500487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32505655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.77, Z:-0.02 [[ 9.99995696e-01 -2.93392821e-03 0.00000000e+00 3.08864929e+01] [ 2.93392821e-03 9.99995696e-01 0.00000000e+00 -7.65998653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06869027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.77, Z:-0.02 [[ 9.99999981e-01 1.97404146e-04 0.00000000e+00 3.09467273e+01] [-1.97404146e-04 9.99999981e-01 0.00000000e+00 -7.67790910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12002406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.79, Z:-0.03 [[ 9.99998344e-01 -1.81990219e-03 0.00000000e+00 3.10069000e+01] [ 1.81990219e-03 9.99998344e-01 0.00000000e+00 -7.87043070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83811937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.80, Z:-0.03 [[ 9.99986785e-01 -5.14098991e-03 0.00000000e+00 3.10676867e+01] [ 5.14098991e-03 9.99986785e-01 0.00000000e+00 -7.96738003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60825001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.80, Z:-0.02 [[ 9.99982913e-01 -5.84588631e-03 0.00000000e+00 3.11281824e+01] [ 5.84588631e-03 9.99982913e-01 0.00000000e+00 -7.96005896e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12464317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.80, Z:-0.02 [[ 9.99997538e-01 2.21896920e-03 0.00000000e+00 3.11891555e+01] [-2.21896920e-03 9.99997538e-01 0.00000000e+00 -7.98991600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38802908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.25, Y:-0.81, Z:-0.03 [[ 9.99870713e-01 1.60796948e-02 0.00000000e+00 3.12497827e+01] [-1.60796948e-02 9.99870713e-01 0.00000000e+00 -8.11051095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59834390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.31, Y:-0.81, Z:-0.03 [[ 9.99824085e-01 1.87563263e-02 0.00000000e+00 3.13104169e+01] [-1.87563263e-02 9.99824085e-01 0.00000000e+00 -8.14370841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51909700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.82, Z:-0.02 [[ 9.99774715e-01 2.12254527e-02 0.00000000e+00 3.13714166e+01] [-2.12254527e-02 9.99774715e-01 0.00000000e+00 -8.18509707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38862786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.82, Z:-0.03 [[ 9.99670540e-01 2.56673237e-02 0.00000000e+00 3.14323240e+01] [-2.56673237e-02 9.99670540e-01 0.00000000e+00 -8.18501548e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64249426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.81, Z:-0.02 [[ 9.99219007e-01 3.95142403e-02 0.00000000e+00 3.14925081e+01] [-3.95142403e-02 9.99219007e-01 0.00000000e+00 -8.08806991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35175169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.55, Y:-0.80, Z:-0.02 [[ 9.99006223e-01 4.45709122e-02 0.00000000e+00 3.15531972e+01] [-4.45709122e-02 9.99006223e-01 0.00000000e+00 -8.00366603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39337922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.80, Z:-0.02 [[ 9.99090530e-01 4.26393259e-02 0.00000000e+00 3.16143987e+01] [-4.26393259e-02 9.99090530e-01 0.00000000e+00 -7.99236360e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38856142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.78, Z:-0.02 [[ 9.99284301e-01 3.78270393e-02 0.00000000e+00 3.16749999e+01] [-3.78270393e-02 9.99284301e-01 0.00000000e+00 -7.78616994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42306069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.74, Y:-0.77, Z:-0.03 [[ 9.99451510e-01 3.31161422e-02 0.00000000e+00 3.17357670e+01] [-3.31161422e-02 9.99451510e-01 0.00000000e+00 -7.71279753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59588095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802320587999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.76, Z:-0.02 [[ 9.99767394e-01 2.15675366e-02 0.00000000e+00 3.17952940e+01] [-2.15675366e-02 9.99767394e-01 0.00000000e+00 -7.61385654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37219634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.76, Z:-0.02 [[ 9.99952046e-01 9.79314402e-03 0.00000000e+00 3.18551132e+01] [-9.79314402e-03 9.99952046e-01 0.00000000e+00 -7.55848825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49239527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922320587999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.92, Y:-0.76, Z:-0.03 [[ 9.99978152e-01 -6.61022787e-03 0.00000000e+00 3.19156333e+01] [ 6.61022787e-03 9.99978152e-01 0.00000000e+00 -7.57862751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59512127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.98, Y:-0.76, Z:-0.03 [[ 9.99829897e-01 -1.84438724e-02 0.00000000e+00 3.19761657e+01] [ 1.84438724e-02 9.99829897e-01 0.00000000e+00 -7.62151546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77842325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.04, Y:-0.76, Z:-0.03 [[ 9.99796029e-01 -2.01965320e-02 0.00000000e+00 3.20376205e+01] [ 2.01965320e-02 9.99796029e-01 0.00000000e+00 -7.64147733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75492878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.76, Z:-0.03 [[ 9.99780093e-01 -2.09705874e-02 0.00000000e+00 3.20990253e+01] [ 2.09705874e-02 9.99780093e-01 0.00000000e+00 -7.64299512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79039184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.78, Z:-0.03 [[ 9.99798536e-01 -2.00720606e-02 0.00000000e+00 3.21594028e+01] [ 2.00720606e-02 9.99798536e-01 0.00000000e+00 -7.76832991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89355847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.78, Z:-0.03 [[ 9.99826169e-01 -1.86448809e-02 0.00000000e+00 3.22203464e+01] [ 1.86448809e-02 9.99826169e-01 0.00000000e+00 -7.79342125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56790145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.28, Y:-0.78, Z:-0.03 [[ 9.99938805e-01 -1.10628088e-02 0.00000000e+00 3.22807120e+01] [ 1.10628088e-02 9.99938805e-01 0.00000000e+00 -7.82325963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88085845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.79, Z:-0.03 [[ 9.99990351e-01 -4.39290173e-03 0.00000000e+00 3.23414290e+01] [ 4.39290173e-03 9.99990351e-01 0.00000000e+00 -7.88227506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04982147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.79, Z:-0.03 [[ 9.99959955e-01 8.94924855e-03 0.00000000e+00 3.24009377e+01] [-8.94924855e-03 9.99959955e-01 0.00000000e+00 -7.88205834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73654084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.79, Z:-0.03 [[ 9.99892941e-01 1.46323863e-02 0.00000000e+00 3.24613414e+01] [-1.46323863e-02 9.99892941e-01 0.00000000e+00 -7.89450994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76197616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.79, Z:-0.03 [[ 9.99750136e-01 2.23532006e-02 0.00000000e+00 3.25214403e+01] [-2.23532006e-02 9.99750136e-01 0.00000000e+00 -7.87642993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82970196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.79, Z:-0.03 [[ 9.99688660e-01 2.49516153e-02 0.00000000e+00 3.25815200e+01] [-2.49516153e-02 9.99688660e-01 0.00000000e+00 -7.89987729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84600197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.79, Z:-0.03 [[ 9.99787625e-01 2.06083792e-02 0.00000000e+00 3.26422189e+01] [-2.06083792e-02 9.99787625e-01 0.00000000e+00 -7.94537704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95176589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.80, Z:-0.03 [[ 9.99887950e-01 1.49695686e-02 0.00000000e+00 3.27029816e+01] [-1.49695686e-02 9.99887950e-01 0.00000000e+00 -7.97239256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01623427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.80, Z:-0.03 [[ 9.99961000e-01 8.83171188e-03 0.00000000e+00 3.27634972e+01] [-8.83171188e-03 9.99961000e-01 0.00000000e+00 -7.97416460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29586905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.81, Z:-0.03 [[ 9.99962517e-01 8.65819610e-03 0.00000000e+00 3.28242623e+01] [-8.65819610e-03 9.99962517e-01 0.00000000e+00 -8.05965402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41817847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.89, Y:-0.80, Z:-0.03 [[ 9.99914495e-01 1.30768350e-02 0.00000000e+00 3.28850671e+01] [-1.30768350e-02 9.99914495e-01 0.00000000e+00 -8.03830859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44791876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.95, Y:-0.81, Z:-0.03 [[ 9.99909000e-01 1.34904549e-02 0.00000000e+00 3.29453033e+01] [-1.34904549e-02 9.99909000e-01 0.00000000e+00 -8.07781883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21780209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.01, Y:-0.81, Z:-0.04 [[ 9.99947431e-01 1.02535572e-02 0.00000000e+00 3.30059585e+01] [-1.02535572e-02 9.99947431e-01 0.00000000e+00 -8.08677428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61482199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062320588000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.07, Y:-0.81, Z:-0.04 [[ 9.99980132e-01 6.30362060e-03 0.00000000e+00 3.30667049e+01] [-6.30362060e-03 9.99980132e-01 0.00000000e+00 -8.10641183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90517736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.13, Y:-0.82, Z:-0.04 [[ 9.99998289e-01 -1.84991634e-03 0.00000000e+00 3.31270369e+01] [ 1.84991634e-03 9.99998289e-01 0.00000000e+00 -8.15878381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74920810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.19, Y:-0.82, Z:-0.04 [[ 9.99994103e-01 -3.43430925e-03 0.00000000e+00 3.31876427e+01] [ 3.43430925e-03 9.99994103e-01 0.00000000e+00 -8.23144157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72989049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.83, Z:-0.04 [[ 9.99992172e-01 -3.95669067e-03 0.00000000e+00 3.32482406e+01] [ 3.95669067e-03 9.99992172e-01 0.00000000e+00 -8.29062452e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81219398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.84, Z:-0.04 [[ 9.99981746e-01 -6.04221472e-03 0.00000000e+00 3.33087475e+01] [ 6.04221472e-03 9.99981746e-01 0.00000000e+00 -8.38471052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95254978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.84, Z:-0.04 [[ 9.99999211e-01 -1.25642449e-03 0.00000000e+00 3.33689453e+01] [ 1.25642449e-03 9.99999211e-01 0.00000000e+00 -8.44363738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78561536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.85, Z:-0.04 [[ 9.99999534e-01 9.65759819e-04 0.00000000e+00 3.34288688e+01] [-9.65759819e-04 9.99999534e-01 0.00000000e+00 -8.50971799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02927810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.87, Z:-0.04 [[ 9.99999961e-01 2.78240528e-04 0.00000000e+00 3.34896774e+01] [-2.78240528e-04 9.99999961e-01 0.00000000e+00 -8.70527512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35255398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.88, Z:-0.04 [[ 9.99998678e-01 1.62580795e-03 0.00000000e+00 3.35500509e+01] [-1.62580795e-03 9.99998678e-01 0.00000000e+00 -8.76076347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04235302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.88, Z:-0.04 [[ 9.99963905e-01 8.49636597e-03 0.00000000e+00 3.36106855e+01] [-8.49636597e-03 9.99963905e-01 0.00000000e+00 -8.77358332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02843891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.88, Z:-0.04 [[ 9.99670525e-01 2.56679111e-02 0.00000000e+00 3.36723527e+01] [-2.56679111e-02 9.99670525e-01 0.00000000e+00 -8.81844969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42548552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.73, Y:-0.88, Z:-0.04 [[ 0.99933108 0.03657025 0. 33.73370937] [-0.03657025 0.99933108 0. -0.87843305] [ 0. 0. 1. -0.04344182] [ 0. 0. 0. 1. ]] SLAMing on 33.782320588000005 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.88, Z:-0.04 [[ 0.99906656 0.04319722 0. 33.79630323] [-0.04319722 0.99906656 0. -0.8750578 ] [ 0. 0. 1. -0.04076045] [ 0. 0. 0. 1. ]] SLAMing on 33.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.88, Z:-0.04 [[ 0.99897676 0.04522649 0. 33.85807226] [-0.04522649 0.99897676 0. -0.87634571] [ 0. 0. 1. -0.04317836] [ 0. 0. 0. 1. ]] SLAMing on 33.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.87, Z:-0.04 [[ 0.99879738 0.04902843 0. 33.92015856] [-0.04902843 0.99879738 0. -0.86549006] [ 0. 0. 1. -0.04141192] [ 0. 0. 0. 1. ]] SLAMing on 33.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.85, Z:-0.04 [[ 0.99877238 0.04953519 0. 33.98233157] [-0.04953519 0.99877238 0. -0.85193763] [ 0. 0. 1. -0.0394056 ] [ 0. 0. 0. 1. ]] SLAMing on 34.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.85, Z:-0.04 [[ 0.99905504 0.04346297 0. 34.04380943] [-0.04346297 0.99905504 0. -0.85285592] [ 0. 0. 1. -0.03914188] [ 0. 0. 0. 1. ]] SLAMing on 34.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.11, Y:-0.85, Z:-0.04 [[ 9.99435896e-01 3.35840812e-02 0.00000000e+00 3.41063569e+01] [-3.35840812e-02 9.99435896e-01 0.00000000e+00 -8.46564140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40119745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.85, Z:-0.05 [[ 9.99789827e-01 2.05012677e-02 0.00000000e+00 3.41685919e+01] [-2.05012677e-02 9.99789827e-01 0.00000000e+00 -8.46867131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57660492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.85, Z:-0.03 [[ 9.99952469e-01 9.74986280e-03 0.00000000e+00 3.42295529e+01] [-9.74986280e-03 9.99952469e-01 0.00000000e+00 -8.50737445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55992151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.85, Z:-0.04 [[ 9.99993447e-01 3.62027012e-03 0.00000000e+00 3.42904078e+01] [-3.62027012e-03 9.99993447e-01 0.00000000e+00 -8.50536143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19584635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.86, Z:-0.04 [[ 9.99992219e-01 -3.94476525e-03 0.00000000e+00 3.43513475e+01] [ 3.94476525e-03 9.99992219e-01 0.00000000e+00 -8.58082697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26572155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.87, Z:-0.04 [[ 9.99890497e-01 -1.47984682e-02 0.00000000e+00 3.44114386e+01] [ 1.47984682e-02 9.99890497e-01 0.00000000e+00 -8.71124492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35213161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.88, Z:-0.04 [[ 9.99836074e-01 -1.81059574e-02 0.00000000e+00 3.44709874e+01] [ 1.81059574e-02 9.99836074e-01 0.00000000e+00 -8.77269765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20923502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.89, Z:-0.04 [[ 9.99856956e-01 -1.69135266e-02 0.00000000e+00 3.45298669e+01] [ 1.69135266e-02 9.99856956e-01 0.00000000e+00 -8.93524998e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35645242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562320588000006 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.90, Z:-0.04 [[ 9.99920219e-01 -1.26315583e-02 0.00000000e+00 3.45895191e+01] [ 1.26315583e-02 9.99920219e-01 0.00000000e+00 -8.96442847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23488776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.90, Z:-0.04 [[ 9.99967461e-01 -8.06708759e-03 0.00000000e+00 3.46487903e+01] [ 8.06708759e-03 9.99967461e-01 0.00000000e+00 -8.99496111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26804313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.91, Z:-0.04 [[ 9.99999308e-01 -1.17639204e-03 0.00000000e+00 3.47087212e+01] [ 1.17639204e-03 9.99999308e-01 0.00000000e+00 -9.14143762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18846246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.91, Z:-0.04 [[ 9.99903775e-01 1.38723358e-02 0.00000000e+00 3.47695922e+01] [-1.38723358e-02 9.99903775e-01 0.00000000e+00 -9.11414928e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74625122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.91, Z:-0.04 [[ 9.99744151e-01 2.26192944e-02 0.00000000e+00 3.48305378e+01] [-2.26192944e-02 9.99744151e-01 0.00000000e+00 -9.12328480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92531407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:34.89, Y:-0.91, Z:-0.04 [[ 9.99483398e-01 3.21393264e-02 0.00000000e+00 3.48929001e+01] [-3.21393264e-02 9.99483398e-01 0.00000000e+00 -9.09398446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19416367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.91, Z:-0.03 [[ 9.99384537e-01 3.50791430e-02 0.00000000e+00 3.49552320e+01] [-3.50791430e-02 9.99384537e-01 0.00000000e+00 -9.06550810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08631361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.90, Z:-0.04 [[ 0.9993329 0.03652068 0. 35.01705595] [-0.03652068 0.9993329 0. -0.89719226] [ 0. 0. 1. -0.03900308] [ 0. 0. 0. 1. ]] SLAMing on 35.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.89, Z:-0.04 [[ 0.99935492 0.03591295 0. 35.07899495] [-0.03591295 0.99935492 0. -0.8902822 ] [ 0. 0. 1. -0.04268836] [ 0. 0. 0. 1. ]] SLAMing on 35.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.90, Z:-0.04 [[ 9.99518905e-01 3.10154608e-02 0.00000000e+00 3.51408822e+01] [-3.10154608e-02 9.99518905e-01 0.00000000e+00 -8.95500583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15873292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.90, Z:-0.04 [[ 9.99580357e-01 2.89674057e-02 0.00000000e+00 3.52034730e+01] [-2.89674057e-02 9.99580357e-01 0.00000000e+00 -8.97098174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95874960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.27, Y:-0.89, Z:-0.04 [[ 9.99539706e-01 3.03377090e-02 0.00000000e+00 3.52654277e+01] [-3.03377090e-02 9.99539706e-01 0.00000000e+00 -8.89788215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03465399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.89, Z:-0.04 [[ 9.99579618e-01 2.89928714e-02 0.00000000e+00 3.53274813e+01] [-2.89928714e-02 9.99579618e-01 0.00000000e+00 -8.87489159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.00226452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.89, Z:-0.04 [[ 9.99700424e-01 2.44757357e-02 0.00000000e+00 3.53894951e+01] [-2.44757357e-02 9.99700424e-01 0.00000000e+00 -8.93841022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82698203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.90, Z:-0.04 [[ 9.99841394e-01 1.78097325e-02 0.00000000e+00 3.54512208e+01] [-1.78097325e-02 9.99841394e-01 0.00000000e+00 -8.96323367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80887392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.89, Z:-0.04 [[ 9.99896214e-01 1.44070052e-02 0.00000000e+00 3.55137268e+01] [-1.44070052e-02 9.99896214e-01 0.00000000e+00 -8.94171421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03395166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.89, Z:-0.04 [[ 9.99881339e-01 1.54047945e-02 0.00000000e+00 3.55754755e+01] [-1.54047945e-02 9.99881339e-01 0.00000000e+00 -8.93648213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91004925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.64, Y:-0.90, Z:-0.04 [[ 9.99848683e-01 1.73956957e-02 0.00000000e+00 3.56369310e+01] [-1.73956957e-02 9.99848683e-01 0.00000000e+00 -8.99297848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72977790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.70, Y:-0.89, Z:-0.04 [[ 9.99817019e-01 1.91292540e-02 0.00000000e+00 3.56995065e+01] [-1.91292540e-02 9.99817019e-01 0.00000000e+00 -8.94825756e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70051835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.90, Z:-0.04 [[ 9.99771002e-01 2.13996306e-02 0.00000000e+00 3.57619991e+01] [-2.13996306e-02 9.99771002e-01 0.00000000e+00 -8.97131677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98048030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.90, Z:-0.04 [[ 9.99799861e-01 2.00059434e-02 0.00000000e+00 3.58236445e+01] [-2.00059434e-02 9.99799861e-01 0.00000000e+00 -9.02739831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72137991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.91, Z:-0.03 [[ 9.99817252e-01 1.91170865e-02 0.00000000e+00 3.58854827e+01] [-1.91170865e-02 9.99817252e-01 0.00000000e+00 -9.05086548e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47616215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.90, Z:-0.04 [[ 9.99762532e-01 2.17917430e-02 0.00000000e+00 3.59467133e+01] [-2.17917430e-02 9.99762532e-01 0.00000000e+00 -9.03340351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59162924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:-0.91, Z:-0.04 [[ 9.99591846e-01 2.85681767e-02 0.00000000e+00 3.60078822e+01] [-2.85681767e-02 9.99591846e-01 0.00000000e+00 -9.05669911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68292484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:-0.91, Z:-0.04 [[ 9.99392435e-01 3.48534314e-02 0.00000000e+00 3.60702697e+01] [-3.48534314e-02 9.99392435e-01 0.00000000e+00 -9.09333481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57607678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.13, Y:-0.90, Z:-0.03 [[ 9.99120796e-01 4.19241498e-02 0.00000000e+00 3.61321799e+01] [-4.19241498e-02 9.99120796e-01 0.00000000e+00 -9.02227560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43598068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.89, Z:-0.04 [[ 9.98876344e-01 4.73925082e-02 0.00000000e+00 3.61944956e+01] [-4.73925082e-02 9.98876344e-01 0.00000000e+00 -8.94067624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59308979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:-0.89, Z:-0.04 [[ 9.98479923e-01 5.51166380e-02 0.00000000e+00 3.62566204e+01] [-5.51166380e-02 9.98479923e-01 0.00000000e+00 -8.88902712e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53032098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.32, Y:-0.88, Z:-0.03 [[ 9.98225306e-01 5.95503083e-02 0.00000000e+00 3.63190931e+01] [-5.95503083e-02 9.98225306e-01 0.00000000e+00 -8.77132642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24571164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:-0.87, Z:-0.03 [[ 9.98103990e-01 6.15501778e-02 0.00000000e+00 3.63809821e+01] [-6.15501778e-02 9.98103990e-01 0.00000000e+00 -8.67647322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15379720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:-0.86, Z:-0.03 [[ 9.98084150e-01 6.18710675e-02 0.00000000e+00 3.64430788e+01] [-6.18710675e-02 9.98084150e-01 0.00000000e+00 -8.58227329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31731428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422320588000005 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:36.51, Y:-0.85, Z:-0.03 [[ 9.98437523e-01 5.58794466e-02 0.00000000e+00 3.65055915e+01] [-5.58794466e-02 9.98437523e-01 0.00000000e+00 -8.46435897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43446368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.83, Z:-0.03 [[ 9.98772836e-01 4.95259735e-02 0.00000000e+00 3.65666828e+01] [-4.95259735e-02 9.98772836e-01 0.00000000e+00 -8.34280117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96330223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.82, Z:-0.03 [[ 9.99193284e-01 4.01594508e-02 0.00000000e+00 3.66277492e+01] [-4.01594508e-02 9.99193284e-01 0.00000000e+00 -8.17490154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38581638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.82, Z:-0.03 [[ 9.99499520e-01 3.16339960e-02 0.00000000e+00 3.66881966e+01] [-3.16339960e-02 9.99499520e-01 0.00000000e+00 -8.19705143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42732325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:-0.81, Z:-0.03 [[ 9.99842001e-01 1.77756255e-02 0.00000000e+00 3.67492153e+01] [-1.77756255e-02 9.99842001e-01 0.00000000e+00 -8.11112179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79185960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:-0.81, Z:-0.03 [[ 9.99919933e-01 1.26541753e-02 0.00000000e+00 3.68099121e+01] [-1.26541753e-02 9.99919933e-01 0.00000000e+00 -8.10269374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74792413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:-0.81, Z:-0.03 [[ 9.99925377e-01 1.22164209e-02 0.00000000e+00 3.68699858e+01] [-1.22164209e-02 9.99925377e-01 0.00000000e+00 -8.06651568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90126743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.93, Y:-0.82, Z:-0.03 [[ 9.99959806e-01 8.96583635e-03 0.00000000e+00 3.69301529e+01] [-8.96583635e-03 9.99959806e-01 0.00000000e+00 -8.16518076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04848438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.99, Y:-0.82, Z:-0.03 [[ 9.99989298e-01 4.62637134e-03 0.00000000e+00 3.69902329e+01] [-4.62637134e-03 9.99989298e-01 0.00000000e+00 -8.21884108e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14285744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:-0.82, Z:-0.03 [[ 9.99999961e-01 2.78726957e-04 0.00000000e+00 3.70509023e+01] [-2.78726957e-04 9.99999961e-01 0.00000000e+00 -8.20650306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98543803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:-0.82, Z:-0.03 [[ 9.99999958e-01 -2.90830975e-04 0.00000000e+00 3.71111332e+01] [ 2.90830975e-04 9.99999958e-01 0.00000000e+00 -8.23356762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91947447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:-0.83, Z:-0.03 [[ 9.99998149e-01 -1.92426858e-03 0.00000000e+00 3.71715223e+01] [ 1.92426858e-03 9.99998149e-01 0.00000000e+00 -8.32947493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38192840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.84, Z:-0.03 [[ 9.99989838e-01 -4.50830398e-03 0.00000000e+00 3.72317880e+01] [ 4.50830398e-03 9.99989838e-01 0.00000000e+00 -8.44047356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46643172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.85, Z:-0.03 [[ 9.99982443e-01 -5.92571342e-03 0.00000000e+00 3.72925188e+01] [ 5.92571342e-03 9.99982443e-01 0.00000000e+00 -8.47426234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06780494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.85, Z:-0.03 [[ 9.99999307e-01 -1.17688991e-03 0.00000000e+00 3.73529828e+01] [ 1.17688991e-03 9.99999307e-01 0.00000000e+00 -8.48840576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06291738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.41, Y:-0.86, Z:-0.03 [[ 9.99979183e-01 6.45245190e-03 0.00000000e+00 3.74131023e+01] [-6.45245190e-03 9.99979183e-01 0.00000000e+00 -8.55436049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12287888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.47, Y:-0.86, Z:-0.03 [[ 9.99896126e-01 1.44131146e-02 0.00000000e+00 3.74734675e+01] [-1.44131146e-02 9.99896126e-01 0.00000000e+00 -8.60644424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19351511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.53, Y:-0.86, Z:-0.03 [[ 9.99683201e-01 2.51693712e-02 0.00000000e+00 3.75344057e+01] [-2.51693712e-02 9.99683201e-01 0.00000000e+00 -8.60670979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23028518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:-0.86, Z:-0.03 [[ 9.99323089e-01 3.67880967e-02 0.00000000e+00 3.75953302e+01] [-3.67880967e-02 9.99323089e-01 0.00000000e+00 -8.56359802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13631966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.66, Y:-0.84, Z:-0.03 [[ 9.98843364e-01 4.80825772e-02 0.00000000e+00 3.76557509e+01] [-4.80825772e-02 9.98843364e-01 0.00000000e+00 -8.43489339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24605919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.72, Y:-0.84, Z:-0.03 [[ 9.98856574e-01 4.78073645e-02 0.00000000e+00 3.77169945e+01] [-4.78073645e-02 9.98856574e-01 0.00000000e+00 -8.42360446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13160479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:-0.83, Z:-0.03 [[ 9.99199649e-01 4.00007630e-02 0.00000000e+00 3.77776513e+01] [-4.00007630e-02 9.99199649e-01 0.00000000e+00 -8.27932685e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24694487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.82, Z:-0.03 [[ 9.99428317e-01 3.38088575e-02 0.00000000e+00 3.78380122e+01] [-3.38088575e-02 9.99428317e-01 0.00000000e+00 -8.23944318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25878271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:-0.82, Z:-0.03 [[ 9.99701432e-01 2.44345458e-02 0.00000000e+00 3.78983740e+01] [-2.44345458e-02 9.99701432e-01 0.00000000e+00 -8.21263161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26312330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.81, Z:-0.03 [[ 9.99813713e-01 1.93012972e-02 0.00000000e+00 3.79588318e+01] [-1.93012972e-02 9.99813713e-01 0.00000000e+00 -8.13771529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36460142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.80, Z:-0.03 [[ 9.99952788e-01 9.71713263e-03 0.00000000e+00 3.80189369e+01] [-9.71713263e-03 9.99952788e-01 0.00000000e+00 -8.01982236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94944923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.80, Z:-0.03 [[ 9.99981950e-01 6.00829237e-03 0.00000000e+00 3.80798693e+01] [-6.00829237e-03 9.99981950e-01 0.00000000e+00 -8.04015033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29705701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.81, Z:-0.02 [[ 9.99997232e-01 2.35286769e-03 0.00000000e+00 3.81399802e+01] [-2.35286769e-03 9.99997232e-01 0.00000000e+00 -8.08866337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14793412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.80, Z:-0.03 [[ 9.99999963e-01 -2.70964258e-04 0.00000000e+00 3.82001292e+01] [ 2.70964258e-04 9.99999963e-01 0.00000000e+00 -8.03394453e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88981595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.80, Z:-0.03 [[ 9.99996649e-01 2.58891883e-03 0.00000000e+00 3.82602987e+01] [-2.58891883e-03 9.99996649e-01 0.00000000e+00 -7.99216671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14142851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.32, Y:-0.79, Z:-0.03 [[ 9.99952933e-01 9.70217174e-03 0.00000000e+00 3.83208353e+01] [-9.70217174e-03 9.99952933e-01 0.00000000e+00 -7.93333530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22891662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:-0.79, Z:-0.03 [[ 9.99864707e-01 1.64489720e-02 0.00000000e+00 3.83816474e+01] [-1.64489720e-02 9.99864707e-01 0.00000000e+00 -7.87410733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10016475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:-0.78, Z:-0.03 [[ 9.99819024e-01 1.90241956e-02 0.00000000e+00 3.84416067e+01] [-1.90241956e-02 9.99819024e-01 0.00000000e+00 -7.81557419e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84309254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.78, Z:-0.03 [[ 9.99743399e-01 2.26524949e-02 0.00000000e+00 3.85013856e+01] [-2.26524949e-02 9.99743399e-01 0.00000000e+00 -7.76911752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87304287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.56, Y:-0.77, Z:-0.03 [[ 9.99680247e-01 2.52864274e-02 0.00000000e+00 3.85608874e+01] [-2.52864274e-02 9.99680247e-01 0.00000000e+00 -7.65990306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94105350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.62, Y:-0.75, Z:-0.03 [[ 9.99677162e-01 2.54081075e-02 0.00000000e+00 3.86202477e+01] [-2.54081075e-02 9.99677162e-01 0.00000000e+00 -7.54228330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98207146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.68, Y:-0.76, Z:-0.03 [[ 9.99786697e-01 2.06533175e-02 0.00000000e+00 3.86794372e+01] [-2.06533175e-02 9.99786697e-01 0.00000000e+00 -7.58030780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90845691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.74, Y:-0.76, Z:-0.03 [[ 9.99934595e-01 1.14370702e-02 0.00000000e+00 3.87386598e+01] [-1.14370702e-02 9.99934595e-01 0.00000000e+00 -7.57450531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97791059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.80, Y:-0.76, Z:-0.03 [[ 9.99992707e-01 3.81917902e-03 0.00000000e+00 3.87981443e+01] [-3.81917902e-03 9.99992707e-01 0.00000000e+00 -7.60298099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01404691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.77, Z:-0.03 [[ 9.99991446e-01 -4.13607836e-03 0.00000000e+00 3.88583646e+01] [ 4.13607836e-03 9.99991446e-01 0.00000000e+00 -7.71850430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83454701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.77, Z:-0.03 [[ 9.99981397e-01 -6.09966558e-03 0.00000000e+00 3.89188547e+01] [ 6.09966558e-03 9.99981397e-01 0.00000000e+00 -7.73591599e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90775334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.98, Y:-0.78, Z:-0.03 [[ 9.99987634e-01 -4.97306581e-03 0.00000000e+00 3.89791569e+01] [ 4.97306581e-03 9.99987634e-01 0.00000000e+00 -7.75653144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22287938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.78, Z:-0.03 [[ 9.99991312e-01 -4.16853325e-03 0.00000000e+00 3.90392832e+01] [ 4.16853325e-03 9.99991312e-01 0.00000000e+00 -7.80241605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19757363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.79, Z:-0.03 [[ 9.99997080e-01 -2.41649752e-03 0.00000000e+00 3.90996952e+01] [ 2.41649752e-03 9.99997080e-01 0.00000000e+00 -7.93245806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88528853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.79, Z:-0.03 [[ 9.99999918e-01 4.05124833e-04 0.00000000e+00 3.91598967e+01] [-4.05124833e-04 9.99999918e-01 0.00000000e+00 -7.92951668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88912767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.79, Z:-0.03 [[ 9.99930601e-01 1.17810585e-02 0.00000000e+00 3.92203592e+01] [-1.17810585e-02 9.99930601e-01 0.00000000e+00 -7.90987709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03704951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.79, Z:-0.03 [[ 9.99817433e-01 1.91076312e-02 0.00000000e+00 3.92796214e+01] [-1.91076312e-02 9.99817433e-01 0.00000000e+00 -7.88348700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80972840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.79, Z:-0.03 [[ 9.99664072e-01 2.59179980e-02 0.00000000e+00 3.93394621e+01] [-2.59179980e-02 9.99664072e-01 0.00000000e+00 -7.88218302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94242454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.78, Z:-0.03 [[ 9.99577083e-01 2.90801379e-02 0.00000000e+00 3.93993040e+01] [-2.90801379e-02 9.99577083e-01 0.00000000e+00 -7.83683822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04306152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.78, Z:-0.03 [[ 9.99542769e-01 3.02366000e-02 0.00000000e+00 3.94584718e+01] [-3.02366000e-02 9.99542769e-01 0.00000000e+00 -7.80262659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85614741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.77, Z:-0.03 [[ 9.99456543e-01 3.29638877e-02 0.00000000e+00 3.95174879e+01] [-3.29638877e-02 9.99456543e-01 0.00000000e+00 -7.74195885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94636293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.77, Z:-0.03 [[ 9.99455892e-01 3.29836314e-02 0.00000000e+00 3.95768716e+01] [-3.29836314e-02 9.99455892e-01 0.00000000e+00 -7.66884737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88329720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.77, Z:-0.03 [[ 9.99712760e-01 2.39665887e-02 0.00000000e+00 3.96360962e+01] [-2.39665887e-02 9.99712760e-01 0.00000000e+00 -7.69655141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17509288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.77, Z:-0.03 [[ 9.99856037e-01 1.69677456e-02 0.00000000e+00 3.96952655e+01] [-1.69677456e-02 9.99856037e-01 0.00000000e+00 -7.70012506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33908381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.75, Y:-0.77, Z:-0.03 [[ 9.99948286e-01 1.01698124e-02 0.00000000e+00 3.97548705e+01] [-1.01698124e-02 9.99948286e-01 0.00000000e+00 -7.73369587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95217380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.81, Y:-0.78, Z:-0.03 [[ 9.99970327e-01 7.70351600e-03 0.00000000e+00 3.98143961e+01] [-7.70351600e-03 9.99970327e-01 0.00000000e+00 -7.78258907e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99704788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:-0.79, Z:-0.03 [[ 9.99986715e-01 5.15463143e-03 0.00000000e+00 3.98751796e+01] [-5.15463143e-03 9.99986715e-01 0.00000000e+00 -7.87252444e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15604842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:-0.79, Z:-0.03 [[ 9.99992921e-01 3.76261429e-03 0.00000000e+00 3.99355547e+01] [-3.76261429e-03 9.99992921e-01 0.00000000e+00 -7.92244473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74931015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.00, Y:-0.79, Z:-0.03 [[ 9.99966383e-01 8.19960318e-03 0.00000000e+00 3.99956984e+01] [-8.19960318e-03 9.99966383e-01 0.00000000e+00 -7.89464109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72659644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.06, Y:-0.79, Z:-0.03 [[ 9.99930325e-01 1.18044789e-02 0.00000000e+00 4.00562728e+01] [-1.18044789e-02 9.99930325e-01 0.00000000e+00 -7.88083176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07863846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.12, Y:-0.79, Z:-0.03 [[ 9.99873985e-01 1.58749361e-02 0.00000000e+00 4.01160874e+01] [-1.58749361e-02 9.99873985e-01 0.00000000e+00 -7.92690933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84341200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.79, Z:-0.03 [[ 9.99846020e-01 1.75481051e-02 0.00000000e+00 4.01761527e+01] [-1.75481051e-02 9.99846020e-01 0.00000000e+00 -7.90658719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72980194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.78, Z:-0.03 [[ 9.99821483e-01 1.88945024e-02 0.00000000e+00 4.02361087e+01] [-1.88945024e-02 9.99821483e-01 0.00000000e+00 -7.84256385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29367088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.78, Z:-0.03 [[ 9.99773806e-01 2.12682229e-02 0.00000000e+00 4.02954398e+01] [-2.12682229e-02 9.99773806e-01 0.00000000e+00 -7.80321622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81775832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.35, Y:-0.77, Z:-0.03 [[ 9.99693688e-01 2.47493369e-02 0.00000000e+00 4.03546484e+01] [-2.47493369e-02 9.99693688e-01 0.00000000e+00 -7.74892399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84718156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.41, Y:-0.78, Z:-0.03 [[ 9.99783401e-01 2.08122930e-02 0.00000000e+00 4.04134735e+01] [-2.08122930e-02 9.99783401e-01 0.00000000e+00 -7.78451079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13408873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.78, Z:-0.03 [[ 9.99908067e-01 1.35594402e-02 0.00000000e+00 4.04732434e+01] [-1.35594402e-02 9.99908067e-01 0.00000000e+00 -7.75648211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06510902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.53, Y:-0.77, Z:-0.03 [[ 9.99975553e-01 6.99239587e-03 0.00000000e+00 4.05327769e+01] [-6.99239587e-03 9.99975553e-01 0.00000000e+00 -7.73352951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11854653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.59, Y:-0.79, Z:-0.03 [[ 9.99998911e-01 -1.47557702e-03 0.00000000e+00 4.05934509e+01] [ 1.47557702e-03 9.99998911e-01 0.00000000e+00 -7.86119136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95745587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.65, Y:-0.79, Z:-0.03 [[ 9.99994599e-01 -3.28660303e-03 0.00000000e+00 4.06542201e+01] [ 3.28660303e-03 9.99994599e-01 0.00000000e+00 -7.85189384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27346927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.71, Y:-0.78, Z:-0.03 [[ 9.99999619e-01 8.73404423e-04 0.00000000e+00 4.07146303e+01] [-8.73404423e-04 9.99999619e-01 0.00000000e+00 -7.80939178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21590328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.77, Y:-0.78, Z:-0.03 [[ 9.99991011e-01 4.23997795e-03 0.00000000e+00 4.07747217e+01] [-4.23997795e-03 9.99991011e-01 0.00000000e+00 -7.84960018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81093442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:-0.79, Z:-0.03 [[ 9.99970057e-01 7.73851797e-03 0.00000000e+00 4.08349081e+01] [-7.73851797e-03 9.99970057e-01 0.00000000e+00 -7.89779829e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00432754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.90, Y:-0.79, Z:-0.01 [[ 9.99943626e-01 1.06181025e-02 0.00000000e+00 4.08954969e+01] [-1.06181025e-02 9.99943626e-01 0.00000000e+00 -7.92870323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49551204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:-0.79, Z:-0.01 [[ 9.99884903e-01 1.51717027e-02 0.00000000e+00 4.09548981e+01] [-1.51717027e-02 9.99884903e-01 0.00000000e+00 -7.85609170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43070536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.01, Y:-0.78, Z:-0.03 [[ 9.99771219e-01 2.13894710e-02 0.00000000e+00 4.10145999e+01] [-2.13894710e-02 9.99771219e-01 0.00000000e+00 -7.78190661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87888747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.07, Y:-0.78, Z:-0.03 [[ 9.99571465e-01 2.92726279e-02 0.00000000e+00 4.10743864e+01] [-2.92726279e-02 9.99571465e-01 0.00000000e+00 -7.80383557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00012442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.13, Y:-0.77, Z:-0.03 [[ 9.99368153e-01 3.55428616e-02 0.00000000e+00 4.11332474e+01] [-3.55428616e-02 9.99368153e-01 0.00000000e+00 -7.72333048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82641753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.19, Y:-0.76, Z:-0.03 [[ 9.99526799e-01 3.07600133e-02 0.00000000e+00 4.11919521e+01] [-3.07600133e-02 9.99526799e-01 0.00000000e+00 -7.62143922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67532995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.25, Y:-0.77, Z:-0.03 [[ 9.99709419e-01 2.41055626e-02 0.00000000e+00 4.12502756e+01] [-2.41055626e-02 9.99709419e-01 0.00000000e+00 -7.71786582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00806212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.77, Z:-0.03 [[ 9.99944997e-01 1.04881996e-02 0.00000000e+00 4.13089788e+01] [-1.04881996e-02 9.99944997e-01 0.00000000e+00 -7.67739646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82419084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.37, Y:-0.77, Z:-0.03 [[ 9.99988946e-01 4.70182630e-03 0.00000000e+00 4.13688966e+01] [-4.70182630e-03 9.99988946e-01 0.00000000e+00 -7.72397167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60784089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:-0.78, Z:-0.03 [[ 9.99980663e-01 6.21876752e-03 0.00000000e+00 4.14289034e+01] [-6.21876752e-03 9.99980663e-01 0.00000000e+00 -7.79611912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03981316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.49, Y:-0.78, Z:-0.03 [[ 9.99951878e-01 9.81024038e-03 0.00000000e+00 4.14890641e+01] [-9.81024038e-03 9.99951878e-01 0.00000000e+00 -7.82351769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87693865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.55, Y:-0.79, Z:-0.03 [[ 9.99893193e-01 1.46151606e-02 0.00000000e+00 4.15485176e+01] [-1.46151606e-02 9.99893193e-01 0.00000000e+00 -7.92955612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75858333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:41.61, Y:-0.79, Z:-0.03 [[ 9.99866783e-01 1.63222393e-02 0.00000000e+00 4.16077634e+01] [-1.63222393e-02 9.99866783e-01 0.00000000e+00 -7.85155545e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91515568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:-0.79, Z:-0.03 [[ 9.99717124e-01 2.37838416e-02 0.00000000e+00 4.16673635e+01] [-2.37838416e-02 9.99717124e-01 0.00000000e+00 -7.88376846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79872763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:-0.79, Z:-0.02 [[ 9.99630620e-01 2.71776273e-02 0.00000000e+00 4.17268119e+01] [-2.71776273e-02 9.99630620e-01 0.00000000e+00 -7.87128120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53048811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:-0.78, Z:-0.03 [[ 9.99375343e-01 3.53401112e-02 0.00000000e+00 4.17866189e+01] [-3.53401112e-02 9.99375343e-01 0.00000000e+00 -7.75028935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63722457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.77, Z:-0.02 [[ 9.99251390e-01 3.86866791e-02 0.00000000e+00 4.18458498e+01] [-3.86866791e-02 9.99251390e-01 0.00000000e+00 -7.72556401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44975307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.90, Y:-0.76, Z:-0.03 [[ 9.99074251e-01 4.30190869e-02 0.00000000e+00 4.19049532e+01] [-4.30190869e-02 9.99074251e-01 0.00000000e+00 -7.62630812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78083323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.96, Y:-0.75, Z:-0.03 [[ 9.98933965e-01 4.61620282e-02 0.00000000e+00 4.19637487e+01] [-4.61620282e-02 9.98933965e-01 0.00000000e+00 -7.54227570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82984606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:-0.74, Z:-0.03 [[ 9.98811410e-01 4.87418463e-02 0.00000000e+00 4.20226579e+01] [-4.87418463e-02 9.98811410e-01 0.00000000e+00 -7.37059115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57851876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.08, Y:-0.73, Z:-0.03 [[ 9.98867599e-01 4.75764661e-02 0.00000000e+00 4.20809535e+01] [-4.75764661e-02 9.98867599e-01 0.00000000e+00 -7.29794806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67333777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.71, Z:-0.03 [[ 9.99084690e-01 4.27759524e-02 0.00000000e+00 4.21398554e+01] [-4.27759524e-02 9.99084690e-01 0.00000000e+00 -7.08455089e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59929671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.69, Z:-0.03 [[ 9.99270894e-01 3.81795734e-02 0.00000000e+00 4.21982714e+01] [-3.81795734e-02 9.99270894e-01 0.00000000e+00 -6.91258327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52877217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.68, Z:-0.01 [[ 9.99607304e-01 2.80220831e-02 0.00000000e+00 4.22576377e+01] [-2.80220831e-02 9.99607304e-01 0.00000000e+00 -6.79203235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.05186324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.67, Z:-0.03 [[ 9.99861323e-01 1.66533864e-02 0.00000000e+00 4.23169132e+01] [-1.66533864e-02 9.99861323e-01 0.00000000e+00 -6.71911077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54767959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.66, Z:-0.02 [[ 9.99999900e-01 -4.46427137e-04 0.00000000e+00 4.23751787e+01] [ 4.46427137e-04 9.99999900e-01 0.00000000e+00 -6.55154905e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40359262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.44, Y:-0.66, Z:-0.02 [[ 9.99847654e-01 -1.74547670e-02 0.00000000e+00 4.24356199e+01] [ 1.74547670e-02 9.99847654e-01 0.00000000e+00 -6.56982036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28134415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.50, Y:-0.67, Z:-0.01 [[ 9.99538129e-01 -3.03896048e-02 0.00000000e+00 4.24964345e+01] [ 3.03896048e-02 9.99538129e-01 0.00000000e+00 -6.66616977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75778888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.56, Y:-0.67, Z:-0.02 [[ 9.99141372e-01 -4.14308886e-02 0.00000000e+00 4.25568290e+01] [ 4.14308886e-02 9.99141372e-01 0.00000000e+00 -6.68140661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13818945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.62, Y:-0.67, Z:-0.02 [[ 9.99148452e-01 -4.12598085e-02 0.00000000e+00 4.26201833e+01] [ 4.12598085e-02 9.99148452e-01 0.00000000e+00 -6.69925412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80161261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.68, Z:-0.02 [[ 9.99247646e-01 -3.87832604e-02 0.00000000e+00 4.26836735e+01] [ 3.87832604e-02 9.99247646e-01 0.00000000e+00 -6.80277868e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32272672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:-0.69, Z:-0.03 [[ 9.99204243e-01 -3.98858514e-02 0.00000000e+00 4.27463753e+01] [ 3.98858514e-02 9.99204243e-01 0.00000000e+00 -6.90233601e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55103244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.81, Y:-0.70, Z:-0.02 [[ 9.99277747e-01 -3.79997926e-02 0.00000000e+00 4.28093358e+01] [ 3.79997926e-02 9.99277747e-01 0.00000000e+00 -7.00526734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14528683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.87, Y:-0.70, Z:-0.02 [[ 9.99340929e-01 -3.63002370e-02 0.00000000e+00 4.28719208e+01] [ 3.63002370e-02 9.99340929e-01 0.00000000e+00 -7.00738938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12486889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.71, Z:-0.02 [[ 9.99545263e-01 -3.01540643e-02 0.00000000e+00 4.29354252e+01] [ 3.01540643e-02 9.99545263e-01 0.00000000e+00 -7.11404567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47604690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.72, Z:-0.02 [[ 9.99667304e-01 -2.57930609e-02 0.00000000e+00 4.29978111e+01] [ 2.57930609e-02 9.99667304e-01 0.00000000e+00 -7.16632447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29201425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:-0.72, Z:-0.03 [[ 9.99818808e-01 -1.90355178e-02 0.00000000e+00 4.30612574e+01] [ 1.90355178e-02 9.99818808e-01 0.00000000e+00 -7.19097993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70754877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:-0.72, Z:-0.02 [[ 9.99939535e-01 -1.09966392e-02 0.00000000e+00 4.31234070e+01] [ 1.09966392e-02 9.99939535e-01 0.00000000e+00 -7.22310498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46277074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.72, Z:-0.02 [[ 9.99999640e-01 -8.49097188e-04 0.00000000e+00 4.31850185e+01] [ 8.49097188e-04 9.99999640e-01 0.00000000e+00 -7.15860333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23296903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.72, Z:-0.02 [[ 9.99997016e-01 2.44304328e-03 0.00000000e+00 4.32458485e+01] [-2.44304328e-03 9.99997016e-01 0.00000000e+00 -7.23129872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43231695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:-0.70, Z:-0.01 [[ 9.99906823e-01 1.36507994e-02 0.00000000e+00 4.33065582e+01] [-1.36507994e-02 9.99906823e-01 0.00000000e+00 -7.02168978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22669655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.69, Z:-0.03 [[ 9.99804928e-01 1.97510899e-02 0.00000000e+00 4.33650119e+01] [-1.97510899e-02 9.99804928e-01 0.00000000e+00 -6.93688184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63612547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.42, Y:-0.70, Z:-0.02 [[ 9.99880094e-01 1.54853898e-02 0.00000000e+00 4.34241887e+01] [-1.54853898e-02 9.99880094e-01 0.00000000e+00 -6.96637715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91250113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.48, Y:-0.70, Z:-0.02 [[ 9.99960620e-01 8.87461929e-03 0.00000000e+00 4.34833569e+01] [-8.87461929e-03 9.99960620e-01 0.00000000e+00 -6.95356411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10523309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.54, Y:-0.68, Z:-0.03 [[ 9.99995476e-01 3.00810673e-03 0.00000000e+00 4.35434160e+01] [-3.00810673e-03 9.99995476e-01 0.00000000e+00 -6.83644461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63701599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.60, Y:-0.69, Z:-0.02 [[ 9.99995431e-01 3.02289065e-03 0.00000000e+00 4.36035492e+01] [-3.02289065e-03 9.99995431e-01 0.00000000e+00 -6.88837376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11131871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.66, Y:-0.69, Z:-0.02 [[ 9.99999990e-01 -1.40094778e-04 0.00000000e+00 4.36643736e+01] [ 1.40094778e-04 9.99999990e-01 0.00000000e+00 -6.93747204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89098801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.73, Y:-0.70, Z:-0.03 [[ 9.99959984e-01 -8.94600180e-03 0.00000000e+00 4.37250515e+01] [ 8.94600180e-03 9.99959984e-01 0.00000000e+00 -6.95565630e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62122498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.79, Y:-0.70, Z:-0.02 [[ 9.99943843e-01 -1.05976888e-02 0.00000000e+00 4.37868316e+01] [ 1.05976888e-02 9.99943843e-01 0.00000000e+00 -6.96217911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46284151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.85, Y:-0.70, Z:-0.02 [[ 9.99979087e-01 -6.46728765e-03 0.00000000e+00 4.38491742e+01] [ 6.46728765e-03 9.99979087e-01 0.00000000e+00 -6.95589991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01853962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.91, Y:-0.70, Z:-0.02 [[ 9.99988633e-01 -4.76809660e-03 0.00000000e+00 4.39105790e+01] [ 4.76809660e-03 9.99988633e-01 0.00000000e+00 -7.01523617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38419927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.97, Y:-0.70, Z:-0.02 [[ 9.99982562e-01 -5.90557026e-03 0.00000000e+00 4.39716078e+01] [ 5.90557026e-03 9.99982562e-01 0.00000000e+00 -6.99649001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21932773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.03, Y:-0.70, Z:-0.02 [[ 9.99966674e-01 -8.16399306e-03 0.00000000e+00 4.40329373e+01] [ 8.16399306e-03 9.99966674e-01 0.00000000e+00 -7.00341518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29383931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.09, Y:-0.69, Z:-0.03 [[ 9.99977665e-01 -6.68349206e-03 0.00000000e+00 4.40939048e+01] [ 6.68349206e-03 9.99977665e-01 0.00000000e+00 -6.91882350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69669495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.16, Y:-0.69, Z:-0.02 [[ 9.99988133e-01 -4.87173055e-03 0.00000000e+00 4.41557628e+01] [ 4.87173055e-03 9.99988133e-01 0.00000000e+00 -6.92109080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45459727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.22, Y:-0.70, Z:-0.02 [[ 9.99999973e-01 2.30519620e-04 0.00000000e+00 4.42171929e+01] [-2.30519620e-04 9.99999973e-01 0.00000000e+00 -6.98249082e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19487547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.28, Y:-0.69, Z:-0.03 [[ 9.99974975e-01 7.07462192e-03 0.00000000e+00 4.42776903e+01] [-7.07462192e-03 9.99974975e-01 0.00000000e+00 -6.90863155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06587725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.34, Y:-0.69, Z:-0.02 [[ 9.99960955e-01 8.83672942e-03 0.00000000e+00 4.43369352e+01] [-8.83672942e-03 9.99960955e-01 0.00000000e+00 -6.86947100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35674502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282320588000005 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:44.40, Y:-0.68, Z:-0.02 [[ 9.99987864e-01 4.92654917e-03 0.00000000e+00 4.43959543e+01] [-4.92654917e-03 9.99987864e-01 0.00000000e+00 -6.81411308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47349578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.46, Y:-0.69, Z:-0.03 [[ 9.99999872e-01 -5.05295479e-04 0.00000000e+00 4.44560539e+01] [ 5.05295479e-04 9.99999872e-01 0.00000000e+00 -6.89057902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04764260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.52, Y:-0.68, Z:-0.02 [[ 9.99991387e-01 -4.15039963e-03 0.00000000e+00 4.45167839e+01] [ 4.15039963e-03 9.99991387e-01 0.00000000e+00 -6.84697542e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37932194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.58, Y:-0.68, Z:-0.02 [[ 9.99997709e-01 -2.14032689e-03 0.00000000e+00 4.45776130e+01] [ 2.14032689e-03 9.99997709e-01 0.00000000e+00 -6.81207026e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24586009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.68, Z:-0.03 [[ 9.99991399e-01 4.14745246e-03 0.00000000e+00 4.46379137e+01] [-4.14745246e-03 9.99991399e-01 0.00000000e+00 -6.80876150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55976290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.67, Z:-0.01 [[ 9.99940181e-01 1.09377269e-02 0.00000000e+00 4.46974205e+01] [-1.09377269e-02 9.99940181e-01 0.00000000e+00 -6.74538482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14369149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.67, Z:-0.02 [[ 9.99947876e-01 1.02100157e-02 0.00000000e+00 4.47560968e+01] [-1.02100157e-02 9.99947876e-01 0.00000000e+00 -6.72615821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20454955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.67, Z:-0.02 [[ 9.99976054e-01 6.92030849e-03 0.00000000e+00 4.48151547e+01] [-6.92030849e-03 9.99976054e-01 0.00000000e+00 -6.70636364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39247922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.88, Y:-0.67, Z:-0.00 [[ 9.99973978e-01 -7.21407803e-03 0.00000000e+00 4.48750071e+01] [ 7.21407803e-03 9.99973978e-01 0.00000000e+00 -6.70742680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47291389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.94, Y:-0.68, Z:-0.02 [[ 9.99904010e-01 -1.38553328e-02 0.00000000e+00 4.49362725e+01] [ 1.38553328e-02 9.99904010e-01 0.00000000e+00 -6.75335258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30441473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.00, Y:-0.68, Z:-0.02 [[ 9.99743615e-01 -2.26429604e-02 0.00000000e+00 4.49987870e+01] [ 2.26429604e-02 9.99743615e-01 0.00000000e+00 -6.78671309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19059226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.06, Y:-0.68, Z:-0.02 [[ 9.99739985e-01 -2.28026967e-02 0.00000000e+00 4.50615605e+01] [ 2.28026967e-02 9.99739985e-01 0.00000000e+00 -6.76336788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26145589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.12, Y:-0.68, Z:-0.02 [[ 9.99771763e-01 -2.13640301e-02 0.00000000e+00 4.51243672e+01] [ 2.13640301e-02 9.99771763e-01 0.00000000e+00 -6.84046936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27849573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.19, Y:-0.69, Z:-0.02 [[ 9.99740963e-01 -2.27597680e-02 0.00000000e+00 4.51870033e+01] [ 2.27597680e-02 9.99740963e-01 0.00000000e+00 -6.90881091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10287224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.25, Y:-0.70, Z:-0.02 [[ 9.99702554e-01 -2.43885855e-02 0.00000000e+00 4.52490951e+01] [ 2.43885855e-02 9.99702554e-01 0.00000000e+00 -7.02890502e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30409825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.31, Y:-0.71, Z:-0.03 [[ 9.99778414e-01 -2.10504643e-02 0.00000000e+00 4.53122552e+01] [ 2.10504643e-02 9.99778414e-01 0.00000000e+00 -7.05327938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53884879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.37, Y:-0.71, Z:-0.02 [[ 9.99919108e-01 -1.27191998e-02 0.00000000e+00 4.53747110e+01] [ 1.27191998e-02 9.99919108e-01 0.00000000e+00 -7.14672221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99002239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.44, Y:-0.72, Z:-0.03 [[ 9.99995627e-01 -2.95728994e-03 0.00000000e+00 4.54359342e+01] [ 2.95728994e-03 9.99995627e-01 0.00000000e+00 -7.18329743e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55506503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.50, Y:-0.72, Z:-0.03 [[ 9.99999512e-01 9.88230730e-04 0.00000000e+00 4.54960160e+01] [-9.88230730e-04 9.99999512e-01 0.00000000e+00 -7.17811163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68927098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.56, Y:-0.72, Z:-0.02 [[ 9.99989279e-01 4.63051494e-03 0.00000000e+00 4.55567773e+01] [-4.63051494e-03 9.99989279e-01 0.00000000e+00 -7.21900406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06478651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:-0.73, Z:-0.02 [[ 9.99994119e-01 3.42950155e-03 0.00000000e+00 4.56167597e+01] [-3.42950155e-03 9.99994119e-01 0.00000000e+00 -7.25907695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34030012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:-0.73, Z:-0.02 [[ 9.99963016e-01 8.60041498e-03 0.00000000e+00 4.56771503e+01] [-8.60041498e-03 9.99963016e-01 0.00000000e+00 -7.28851725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37781528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:-0.72, Z:-0.02 [[ 9.99909464e-01 1.34559906e-02 0.00000000e+00 4.57369128e+01] [-1.34559906e-02 9.99909464e-01 0.00000000e+00 -7.22711203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15679754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:-0.73, Z:-0.02 [[ 9.99861393e-01 1.66491924e-02 0.00000000e+00 4.57957492e+01] [-1.66491924e-02 9.99861393e-01 0.00000000e+00 -7.26899048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22726163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.85, Y:-0.72, Z:-0.02 [[ 9.99881877e-01 1.53698471e-02 0.00000000e+00 4.58547915e+01] [-1.53698471e-02 9.99881877e-01 0.00000000e+00 -7.24995669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12445024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.91, Y:-0.73, Z:-0.02 [[ 9.99969456e-01 7.81581311e-03 0.00000000e+00 4.59138815e+01] [-7.81581311e-03 9.99969456e-01 0.00000000e+00 -7.27732141e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38081870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.97, Y:-0.74, Z:-0.02 [[ 9.99997547e-01 -2.21497262e-03 0.00000000e+00 4.59736931e+01] [ 2.21497262e-03 9.99997547e-01 0.00000000e+00 -7.38095588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15922288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.03, Y:-0.75, Z:-0.02 [[ 9.99988695e-01 -4.75507856e-03 0.00000000e+00 4.60344567e+01] [ 4.75507856e-03 9.99988695e-01 0.00000000e+00 -7.46021079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96711651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.10, Y:-0.75, Z:-0.02 [[ 9.99999993e-01 -1.17963176e-04 0.00000000e+00 4.60952552e+01] [ 1.17963176e-04 9.99999993e-01 0.00000000e+00 -7.52541012e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99787923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.75, Z:-0.01 [[ 9.99974897e-01 7.08562827e-03 0.00000000e+00 4.61559663e+01] [-7.08562827e-03 9.99974897e-01 0.00000000e+00 -7.45911358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.47304898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.75, Z:-0.02 [[ 9.99900258e-01 1.41235345e-02 0.00000000e+00 4.62159291e+01] [-1.41235345e-02 9.99900258e-01 0.00000000e+00 -7.50812842e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09879476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:-0.75, Z:-0.02 [[ 9.99885168e-01 1.51542214e-02 0.00000000e+00 4.62742725e+01] [-1.51542214e-02 9.99885168e-01 0.00000000e+00 -7.46713244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79583533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.33, Y:-0.74, Z:-0.02 [[ 9.99909987e-01 1.34171077e-02 0.00000000e+00 4.63329053e+01] [-1.34171077e-02 9.99909987e-01 0.00000000e+00 -7.40487762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78256396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.39, Y:-0.74, Z:-0.02 [[ 9.99961496e-01 8.77531394e-03 0.00000000e+00 4.63917756e+01] [-8.77531394e-03 9.99961496e-01 0.00000000e+00 -7.37411155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79307118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.45, Y:-0.73, Z:-0.02 [[ 9.99980182e-01 6.29572191e-03 0.00000000e+00 4.64515262e+01] [-6.29572191e-03 9.99980182e-01 0.00000000e+00 -7.33057121e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87211554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.51, Y:-0.73, Z:-0.02 [[ 9.99978311e-01 6.58615818e-03 0.00000000e+00 4.65109480e+01] [-6.58615818e-03 9.99978311e-01 0.00000000e+00 -7.25963500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87948970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.72, Z:-0.02 [[ 9.99974213e-01 7.18146753e-03 0.00000000e+00 4.65704000e+01] [-7.18146753e-03 9.99974213e-01 0.00000000e+00 -7.17221287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82389519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.71, Z:-0.02 [[ 9.99981109e-01 6.14672805e-03 0.00000000e+00 4.66295677e+01] [-6.14672805e-03 9.99981109e-01 0.00000000e+00 -7.14038155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60199403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:-0.71, Z:-0.01 [[ 9.99997663e-01 2.16191694e-03 0.00000000e+00 4.66891198e+01] [-2.16191694e-03 9.99997663e-01 0.00000000e+00 -7.09312001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48252086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.75, Y:-0.71, Z:-0.02 [[ 9.99990610e-01 -4.33353331e-03 0.00000000e+00 4.67500650e+01] [ 4.33353331e-03 9.99990610e-01 0.00000000e+00 -7.11402233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67662757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.71, Z:-0.02 [[ 9.99958708e-01 -9.08742881e-03 0.00000000e+00 4.68116162e+01] [ 9.08742881e-03 9.99958708e-01 0.00000000e+00 -7.12833761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70466515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.71, Z:-0.01 [[ 9.99985072e-01 -5.46400476e-03 0.00000000e+00 4.68725648e+01] [ 5.46400476e-03 9.99985072e-01 0.00000000e+00 -7.09240148e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04105117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.70, Z:-0.01 [[ 9.99996853e-01 2.50876932e-03 0.00000000e+00 4.69341349e+01] [-2.50876932e-03 9.99996853e-01 0.00000000e+00 -7.01359634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10993287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.70, Z:-0.01 [[ 9.99981243e-01 6.12480678e-03 0.00000000e+00 4.69944602e+01] [-6.12480678e-03 9.99981243e-01 0.00000000e+00 -7.00247411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41324954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.70, Z:-0.01 [[ 9.99999629e-01 -8.61773942e-04 0.00000000e+00 4.70538520e+01] [ 8.61773942e-04 9.99999629e-01 0.00000000e+00 -7.03382451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27191044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.71, Z:-0.01 [[ 9.99940336e-01 -1.09235858e-02 0.00000000e+00 4.71145669e+01] [ 1.09235858e-02 9.99940336e-01 0.00000000e+00 -7.07268394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24511145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.18, Y:-0.71, Z:-0.01 [[ 9.99923960e-01 -1.23318124e-02 0.00000000e+00 4.71770932e+01] [ 1.23318124e-02 9.99923960e-01 0.00000000e+00 -7.07799491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71003650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.24, Y:-0.72, Z:-0.01 [[ 9.99913051e-01 -1.31867749e-02 0.00000000e+00 4.72389293e+01] [ 1.31867749e-02 9.99913051e-01 0.00000000e+00 -7.22178315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39057197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.30, Y:-0.73, Z:-0.02 [[ 9.99890938e-01 -1.47686280e-02 0.00000000e+00 4.73016029e+01] [ 1.47686280e-02 9.99890938e-01 0.00000000e+00 -7.27924342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52946581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.36, Y:-0.73, Z:-0.01 [[ 9.99920291e-01 -1.26258390e-02 0.00000000e+00 4.73637788e+01] [ 1.26258390e-02 9.99920291e-01 0.00000000e+00 -7.34315183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21274830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.43, Y:-0.74, Z:-0.01 [[ 9.99983852e-01 -5.68299285e-03 0.00000000e+00 4.74250405e+01] [ 5.68299285e-03 9.99983852e-01 0.00000000e+00 -7.40089364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19435908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.49, Y:-0.74, Z:-0.02 [[ 9.99988865e-01 4.71899838e-03 0.00000000e+00 4.74862800e+01] [-4.71899838e-03 9.99988865e-01 0.00000000e+00 -7.42334466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54105772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.55, Y:-0.74, Z:-0.01 [[ 9.99967624e-01 8.04680100e-03 0.00000000e+00 4.75456081e+01] [-8.04680100e-03 9.99967624e-01 0.00000000e+00 -7.41038582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40163692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.61, Y:-0.74, Z:-0.01 [[ 9.99974015e-01 7.20898842e-03 0.00000000e+00 4.76053811e+01] [-7.20898842e-03 9.99974015e-01 0.00000000e+00 -7.38988396e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39035574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.74, Z:-0.01 [[ 9.99993637e-01 3.56735962e-03 0.00000000e+00 4.76649562e+01] [-3.56735962e-03 9.99993637e-01 0.00000000e+00 -7.40347441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35031708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:-0.74, Z:-0.01 [[ 9.99994506e-01 3.31482445e-03 0.00000000e+00 4.77251816e+01] [-3.31482445e-03 9.99994506e-01 0.00000000e+00 -7.39842934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09852540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:-0.73, Z:-0.01 [[ 9.99956200e-01 9.35934387e-03 0.00000000e+00 4.77855749e+01] [-9.35934387e-03 9.99956200e-01 0.00000000e+00 -7.32882961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12845701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:-0.73, Z:-0.01 [[ 9.99881890e-01 1.53690203e-02 0.00000000e+00 4.78451986e+01] [-1.53690203e-02 9.99881890e-01 0.00000000e+00 -7.29134532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21083496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.90, Y:-0.73, Z:-0.01 [[ 9.99898812e-01 1.42255508e-02 0.00000000e+00 4.79035780e+01] [-1.42255508e-02 9.99898812e-01 0.00000000e+00 -7.28165392e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.64715795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.96, Y:-0.72, Z:-0.01 [[ 9.99929868e-01 1.18430847e-02 0.00000000e+00 4.79626639e+01] [-1.18430847e-02 9.99929868e-01 0.00000000e+00 -7.21755751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06835565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.02, Y:-0.72, Z:-0.01 [[ 9.99940501e-01 1.09084302e-02 0.00000000e+00 4.80212894e+01] [-1.09084302e-02 9.99940501e-01 0.00000000e+00 -7.17657943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18026797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:-0.72, Z:-0.01 [[ 9.99960661e-01 8.86997487e-03 0.00000000e+00 4.80813699e+01] [-8.86997487e-03 9.99960661e-01 0.00000000e+00 -7.23299501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13722448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:-0.72, Z:-0.01 [[ 9.99969118e-01 7.85891435e-03 0.00000000e+00 4.81409132e+01] [-7.85891435e-03 9.99969118e-01 0.00000000e+00 -7.16842358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82026309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.20, Y:-0.72, Z:-0.01 [[ 9.99975565e-01 6.99065875e-03 0.00000000e+00 4.82006130e+01] [-6.99065875e-03 9.99975565e-01 0.00000000e+00 -7.16192399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19162092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.26, Y:-0.71, Z:-0.01 [[ 9.99985859e-01 5.31805470e-03 0.00000000e+00 4.82599496e+01] [-5.31805470e-03 9.99985859e-01 0.00000000e+00 -7.13975746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18589660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.32, Y:-0.72, Z:-0.01 [[ 9.99986776e-01 5.14281665e-03 0.00000000e+00 4.83196501e+01] [-5.14281665e-03 9.99986776e-01 0.00000000e+00 -7.16776986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40113171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.38, Y:-0.71, Z:-0.01 [[ 9.99975588e-01 6.98736775e-03 0.00000000e+00 4.83793075e+01] [-6.98736775e-03 9.99975588e-01 0.00000000e+00 -7.10720949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36925859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.44, Y:-0.70, Z:-0.01 [[ 9.99890143e-01 1.48223394e-02 0.00000000e+00 4.84392725e+01] [-1.48223394e-02 9.99890143e-01 0.00000000e+00 -7.03327628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47075949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.50, Y:-0.70, Z:-0.02 [[ 9.99813837e-01 1.92948276e-02 0.00000000e+00 4.84975704e+01] [-1.92948276e-02 9.99813837e-01 0.00000000e+00 -7.03527951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72128200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.56, Y:-0.70, Z:-0.01 [[ 9.99775934e-01 2.11679290e-02 0.00000000e+00 4.85558294e+01] [-2.11679290e-02 9.99775934e-01 0.00000000e+00 -6.96829562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37888326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.61, Y:-0.69, Z:-0.01 [[ 9.99818406e-01 1.90566235e-02 0.00000000e+00 4.86140873e+01] [-1.90566235e-02 9.99818406e-01 0.00000000e+00 -6.92721713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21682643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.67, Y:-0.68, Z:-0.02 [[ 9.99834815e-01 1.81753549e-02 0.00000000e+00 4.86719989e+01] [-1.81753549e-02 9.99834815e-01 0.00000000e+00 -6.76490704e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65900585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.73, Y:-0.67, Z:-0.01 [[ 9.99892099e-01 1.46898135e-02 0.00000000e+00 4.87304089e+01] [-1.46898135e-02 9.99892099e-01 0.00000000e+00 -6.67023218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28283809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.79, Y:-0.67, Z:-0.01 [[ 9.99986412e-01 5.21302546e-03 0.00000000e+00 4.87891578e+01] [-5.21302546e-03 9.99986412e-01 0.00000000e+00 -6.67041775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39675417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.85, Y:-0.66, Z:-0.01 [[ 9.99974351e-01 -7.16228487e-03 0.00000000e+00 4.88490956e+01] [ 7.16228487e-03 9.99974351e-01 0.00000000e+00 -6.60066957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27331306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:-0.65, Z:-0.01 [[ 9.99904463e-01 -1.38226236e-02 0.00000000e+00 4.89117630e+01] [ 1.38226236e-02 9.99904463e-01 0.00000000e+00 -6.53692723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71301024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:-0.66, Z:-0.01 [[ 9.99773048e-01 -2.13038345e-02 0.00000000e+00 4.89743874e+01] [ 2.13038345e-02 9.99773048e-01 0.00000000e+00 -6.62773203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19649163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.04, Y:-0.68, Z:-0.01 [[ 9.99496740e-01 -3.17217041e-02 0.00000000e+00 4.90369035e+01] [ 3.17217041e-02 9.99496740e-01 0.00000000e+00 -6.76840164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25438540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:-0.67, Z:-0.01 [[ 9.99423936e-01 -3.39381079e-02 0.00000000e+00 4.91002115e+01] [ 3.39381079e-02 9.99423936e-01 0.00000000e+00 -6.74913425e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58289196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.16, Y:-0.69, Z:-0.01 [[ 9.99515846e-01 -3.11138926e-02 0.00000000e+00 4.91625027e+01] [ 3.11138926e-02 9.99515846e-01 0.00000000e+00 -6.88086846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41162917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.23, Y:-0.70, Z:-0.02 [[ 9.99584037e-01 -2.88401373e-02 0.00000000e+00 4.92253466e+01] [ 2.88401373e-02 9.99584037e-01 0.00000000e+00 -7.03560316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55565263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.29, Y:-0.71, Z:-0.01 [[ 9.99562962e-01 -2.95615330e-02 0.00000000e+00 4.92883104e+01] [ 2.95615330e-02 9.99562962e-01 0.00000000e+00 -7.07386861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28032136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.35, Y:-0.72, Z:-0.01 [[ 9.99643414e-01 -2.67029072e-02 0.00000000e+00 4.93509911e+01] [ 2.67029072e-02 9.99643414e-01 0.00000000e+00 -7.22694011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47470474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.41, Y:-0.73, Z:-0.01 [[ 9.99722805e-01 -2.35438530e-02 0.00000000e+00 4.94133868e+01] [ 2.35438530e-02 9.99722805e-01 0.00000000e+00 -7.30852991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46363884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.48, Y:-0.74, Z:-0.02 [[ 9.99869726e-01 -1.61409782e-02 0.00000000e+00 4.94764869e+01] [ 1.61409782e-02 9.99869726e-01 0.00000000e+00 -7.35541100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50604237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.54, Y:-0.74, Z:-0.02 [[ 9.99949469e-01 -1.00528458e-02 0.00000000e+00 4.95390179e+01] [ 1.00528458e-02 9.99949469e-01 0.00000000e+00 -7.40423481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68551480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.60, Y:-0.74, Z:-0.01 [[ 9.99998665e-01 -1.63400753e-03 0.00000000e+00 4.96004685e+01] [ 1.63400753e-03 9.99998665e-01 0.00000000e+00 -7.44070806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30232359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.66, Y:-0.74, Z:-0.01 [[ 9.99982625e-01 5.89491406e-03 0.00000000e+00 4.96606587e+01] [-5.89491406e-03 9.99982625e-01 0.00000000e+00 -7.44129411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72058566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:-0.73, Z:-0.02 [[ 9.99877599e-01 1.56456514e-02 0.00000000e+00 4.97200732e+01] [-1.56456514e-02 9.99877599e-01 0.00000000e+00 -7.34360675e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74968347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:-0.72, Z:-0.01 [[ 9.99774702e-01 2.12260601e-02 0.00000000e+00 4.97793009e+01] [-2.12260601e-02 9.99774702e-01 0.00000000e+00 -7.23608123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37851723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.84, Y:-0.72, Z:-0.01 [[ 9.99830355e-01 1.84190571e-02 0.00000000e+00 4.98378470e+01] [-1.84190571e-02 9.99830355e-01 0.00000000e+00 -7.21379230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00660309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.90, Y:-0.73, Z:-0.02 [[ 9.99981057e-01 6.15517949e-03 0.00000000e+00 4.98962711e+01] [-6.15517949e-03 9.99981057e-01 0.00000000e+00 -7.26021271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62267766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.96, Y:-0.73, Z:-0.02 [[ 9.99999705e-01 -7.67916680e-04 0.00000000e+00 4.99563210e+01] [ 7.67916680e-04 9.99999705e-01 0.00000000e+00 -7.26528139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72446620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.02, Y:-0.73, Z:-0.01 [[ 9.99989989e-01 -4.47459819e-03 0.00000000e+00 5.00172048e+01] [ 4.47459819e-03 9.99989989e-01 0.00000000e+00 -7.33503123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48316265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.08, Y:-0.73, Z:-0.02 [[ 9.99999341e-01 -1.14791473e-03 0.00000000e+00 5.00784647e+01] [ 1.14791473e-03 9.99999341e-01 0.00000000e+00 -7.31820104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51943922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.14, Y:-0.75, Z:-0.02 [[ 9.99997342e-01 2.30567329e-03 0.00000000e+00 5.01392148e+01] [-2.30567329e-03 9.99997342e-01 0.00000000e+00 -7.45618654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52386264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.20, Y:-0.75, Z:-0.02 [[ 9.99999010e-01 -1.40730086e-03 0.00000000e+00 5.01992987e+01] [ 1.40730086e-03 9.99999010e-01 0.00000000e+00 -7.52253386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70782576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.26, Y:-0.76, Z:-0.02 [[ 9.99999733e-01 -7.31258777e-04 0.00000000e+00 5.02599720e+01] [ 7.31258777e-04 9.99999733e-01 0.00000000e+00 -7.61704362e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66358036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.32, Y:-0.76, Z:-0.01 [[ 9.99988222e-01 4.85354009e-03 0.00000000e+00 5.03205854e+01] [-4.85354009e-03 9.99988222e-01 0.00000000e+00 -7.62531257e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22462438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:50.38, Y:-0.77, Z:-0.01 [[ 9.99954146e-01 9.57629791e-03 0.00000000e+00 5.03814418e+01] [-9.57629791e-03 9.99954146e-01 0.00000000e+00 -7.67477622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44295415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.44, Y:-0.77, Z:-0.01 [[ 9.99784156e-01 2.07760006e-02 0.00000000e+00 5.04406395e+01] [-2.07760006e-02 9.99784156e-01 0.00000000e+00 -7.67118695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26477250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.50, Y:-0.76, Z:-0.01 [[ 9.99679032e-01 2.53344188e-02 0.00000000e+00 5.04995207e+01] [-2.53344188e-02 9.99679032e-01 0.00000000e+00 -7.59732237e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03383133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.74, Z:-0.01 [[ 9.99289936e-01 3.76778993e-02 0.00000000e+00 5.05585786e+01] [-3.76778993e-02 9.99289936e-01 0.00000000e+00 -7.44992038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86645495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.74, Z:-0.01 [[ 9.99072510e-01 4.30594908e-02 0.00000000e+00 5.06171740e+01] [-4.30594908e-02 9.99072510e-01 0.00000000e+00 -7.39452712e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31210271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.73, Z:-0.01 [[ 9.99121623e-01 4.19044453e-02 0.00000000e+00 5.06762648e+01] [-4.19044453e-02 9.99121623e-01 0.00000000e+00 -7.27505624e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24139006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.72, Z:-0.01 [[ 9.99367137e-01 3.55714045e-02 0.00000000e+00 5.07340777e+01] [-3.55714045e-02 9.99367137e-01 0.00000000e+00 -7.16797736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23570463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.79, Y:-0.71, Z:-0.02 [[ 9.99625914e-01 2.73501715e-02 0.00000000e+00 5.07932241e+01] [-2.73501715e-02 9.99625914e-01 0.00000000e+00 -7.12611004e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75697930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:-0.70, Z:-0.01 [[ 9.99795773e-01 2.02091893e-02 0.00000000e+00 5.08524941e+01] [-2.02091893e-02 9.99795773e-01 0.00000000e+00 -7.01966091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50693839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:-0.70, Z:-0.00 [[ 9.99939293e-01 1.10186332e-02 0.00000000e+00 5.09117986e+01] [-1.10186332e-02 9.99939293e-01 0.00000000e+00 -6.97518798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54102493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:-0.70, Z:-0.02 [[ 9.99979553e-01 6.39478912e-03 0.00000000e+00 5.09706355e+01] [-6.39478912e-03 9.99979553e-01 0.00000000e+00 -7.04855228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93564814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.70, Z:-0.01 [[ 9.99985069e-01 5.46450378e-03 0.00000000e+00 5.10301686e+01] [-5.46450378e-03 9.99985069e-01 0.00000000e+00 -6.99111679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05712606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.69, Z:-0.01 [[ 9.99963676e-01 8.52328355e-03 0.00000000e+00 5.10894638e+01] [-8.52328355e-03 9.99963676e-01 0.00000000e+00 -6.86161045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13266249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.15, Y:-0.68, Z:-0.02 [[ 9.99973942e-01 7.21903244e-03 0.00000000e+00 5.11479705e+01] [-7.21903244e-03 9.99973942e-01 0.00000000e+00 -6.84285279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66581553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.68, Z:-0.01 [[ 9.99997775e-01 2.10941169e-03 0.00000000e+00 5.12075895e+01] [-2.10941169e-03 9.99997775e-01 0.00000000e+00 -6.84322184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09239744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:-0.68, Z:-0.02 [[ 9.99995320e-01 -3.05932436e-03 0.00000000e+00 5.12678087e+01] [ 3.05932436e-03 9.99995320e-01 0.00000000e+00 -6.81849960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61871432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.33, Y:-0.67, Z:-0.02 [[ 9.99997881e-01 -2.05855153e-03 0.00000000e+00 5.13295060e+01] [ 2.05855153e-03 9.99997881e-01 0.00000000e+00 -6.73689097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81153110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.39, Y:-0.68, Z:-0.02 [[ 9.99999987e-01 -1.59850884e-04 0.00000000e+00 5.13897640e+01] [ 1.59850884e-04 9.99999987e-01 0.00000000e+00 -6.77193980e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68955316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.45, Y:-0.68, Z:-0.02 [[ 9.99999448e-01 -1.05064426e-03 0.00000000e+00 5.14507478e+01] [ 1.05064426e-03 9.99999448e-01 0.00000000e+00 -6.78519722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62587846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.51, Y:-0.68, Z:-0.02 [[ 9.99998435e-01 -1.76906640e-03 0.00000000e+00 5.15108808e+01] [ 1.76906640e-03 9.99998435e-01 0.00000000e+00 -6.79646265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83024535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.57, Y:-0.68, Z:-0.02 [[ 9.99997759e-01 -2.11722299e-03 0.00000000e+00 5.15718556e+01] [ 2.11722299e-03 9.99997759e-01 0.00000000e+00 -6.81869173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54405718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.63, Y:-0.68, Z:-0.02 [[ 9.99999941e-01 3.42488988e-04 0.00000000e+00 5.16323589e+01] [-3.42488988e-04 9.99999941e-01 0.00000000e+00 -6.81812053e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66230347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.69, Y:-0.68, Z:-0.01 [[ 9.99981613e-01 6.06414565e-03 0.00000000e+00 5.16929815e+01] [-6.06414565e-03 9.99981613e-01 0.00000000e+00 -6.82447109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.83636236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:-0.68, Z:-0.02 [[ 9.99950619e-01 9.93773899e-03 0.00000000e+00 5.17522771e+01] [-9.93773899e-03 9.99950619e-01 0.00000000e+00 -6.77265897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52117127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:-0.68, Z:-0.02 [[ 9.99973221e-01 7.31833894e-03 0.00000000e+00 5.18111901e+01] [-7.31833894e-03 9.99973221e-01 0.00000000e+00 -6.82442947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67080994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.87, Y:-0.68, Z:-0.02 [[ 9.99998921e-01 1.46934764e-03 0.00000000e+00 5.18712790e+01] [-1.46934764e-03 9.99998921e-01 0.00000000e+00 -6.79340666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71748030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.93, Y:-0.67, Z:-0.02 [[ 9.99998240e-01 1.87591904e-03 0.00000000e+00 5.19316409e+01] [-1.87591904e-03 9.99998240e-01 0.00000000e+00 -6.74399016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59712938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.99, Y:-0.67, Z:-0.02 [[ 9.99996598e-01 2.60846299e-03 0.00000000e+00 5.19919573e+01] [-2.60846299e-03 9.99996598e-01 0.00000000e+00 -6.73373177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57412251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.05, Y:-0.68, Z:-0.02 [[ 9.99996761e-01 2.54537657e-03 0.00000000e+00 5.20526908e+01] [-2.54537657e-03 9.99996761e-01 0.00000000e+00 -6.77985013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74549308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.11, Y:-0.68, Z:-0.02 [[ 9.99995563e-01 -2.97905871e-03 0.00000000e+00 5.21131746e+01] [ 2.97905871e-03 9.99995563e-01 0.00000000e+00 -6.82919904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69379998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.17, Y:-0.69, Z:-0.02 [[ 9.99989908e-01 -4.49269079e-03 0.00000000e+00 5.21742966e+01] [ 4.49269079e-03 9.99989908e-01 0.00000000e+00 -6.89047119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66889411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.24, Y:-0.69, Z:-0.02 [[ 9.99999991e-01 -1.37183626e-04 0.00000000e+00 5.22354853e+01] [ 1.37183626e-04 9.99999991e-01 0.00000000e+00 -6.87406329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53516922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.30, Y:-0.70, Z:-0.02 [[ 9.99976569e-01 6.84551957e-03 0.00000000e+00 5.22961355e+01] [-6.84551957e-03 9.99976569e-01 0.00000000e+00 -6.95313378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75790829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.36, Y:-0.70, Z:-0.02 [[ 9.99919489e-01 1.26891721e-02 0.00000000e+00 5.23557816e+01] [-1.26891721e-02 9.99919489e-01 0.00000000e+00 -6.95051470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69353277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.41, Y:-0.69, Z:-0.01 [[ 9.99848843e-01 1.73865016e-02 0.00000000e+00 5.24145152e+01] [-1.73865016e-02 9.99848843e-01 0.00000000e+00 -6.88751365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48584341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322320588000004 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:52.47, Y:-0.68, Z:-0.02 [[ 9.99803622e-01 1.98170893e-02 0.00000000e+00 5.24734156e+01] [-1.98170893e-02 9.99803622e-01 0.00000000e+00 -6.84099142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51787758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:52.53, Y:-0.68, Z:-0.01 [[ 9.99775267e-01 2.11994451e-02 0.00000000e+00 5.25320650e+01] [-2.11994451e-02 9.99775267e-01 0.00000000e+00 -6.76826592e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45601406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.59, Y:-0.66, Z:-0.02 [[ 9.99864011e-01 1.64911747e-02 0.00000000e+00 5.25911605e+01] [-1.64911747e-02 9.99864011e-01 0.00000000e+00 -6.63245700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55479111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.65, Y:-0.65, Z:-0.02 [[ 9.99893447e-01 1.45977842e-02 0.00000000e+00 5.26491661e+01] [-1.45977842e-02 9.99893447e-01 0.00000000e+00 -6.52175706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56136862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.71, Y:-0.64, Z:-0.00 [[ 9.99976830e-01 6.80731996e-03 0.00000000e+00 5.27083586e+01] [-6.80731996e-03 9.99976830e-01 0.00000000e+00 -6.44724076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28884319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:52.77, Y:-0.64, Z:-0.01 [[ 9.99998938e-01 1.45748901e-03 0.00000000e+00 5.27682726e+01] [-1.45748901e-03 9.99998938e-01 0.00000000e+00 -6.44693472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14463033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:52.83, Y:-0.64, Z:-0.02 [[ 9.99960934e-01 -8.83919490e-03 0.00000000e+00 5.28291641e+01] [ 8.83919490e-03 9.99960934e-01 0.00000000e+00 -6.42805585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52606527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.89, Y:-0.64, Z:-0.01 [[ 9.99913183e-01 -1.31767104e-02 0.00000000e+00 5.28913366e+01] [ 1.31767104e-02 9.99913183e-01 0.00000000e+00 -6.43609829e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45992272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.95, Y:-0.65, Z:-0.01 [[ 9.99888373e-01 -1.49412738e-02 0.00000000e+00 5.29532799e+01] [ 1.49412738e-02 9.99888373e-01 0.00000000e+00 -6.47800940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25683389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.02, Y:-0.66, Z:-0.02 [[ 9.99788914e-01 -2.05457510e-02 0.00000000e+00 5.30161694e+01] [ 2.05457510e-02 9.99788914e-01 0.00000000e+00 -6.61964197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57225122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.08, Y:-0.67, Z:-0.02 [[ 9.99708454e-01 -2.41455233e-02 0.00000000e+00 5.30792644e+01] [ 2.41455233e-02 9.99708454e-01 0.00000000e+00 -6.65367902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70443894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.67, Z:-0.01 [[ 9.99756748e-01 -2.20555141e-02 0.00000000e+00 5.31419024e+01] [ 2.20555141e-02 9.99756748e-01 0.00000000e+00 -6.69187578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29706456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.21, Y:-0.67, Z:-0.01 [[ 9.99937517e-01 -1.11786444e-02 0.00000000e+00 5.32052231e+01] [ 1.11786444e-02 9.99937517e-01 0.00000000e+00 -6.73775416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11918152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.27, Y:-0.68, Z:-0.01 [[ 9.99988529e-01 -4.78984279e-03 0.00000000e+00 5.32676173e+01] [ 4.78984279e-03 9.99988529e-01 0.00000000e+00 -6.81263374e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31444622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.33, Y:-0.68, Z:-0.01 [[ 9.99999995e-01 9.78008518e-05 0.00000000e+00 5.33286256e+01] [-9.78008518e-05 9.99999995e-01 0.00000000e+00 -6.83631072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15390386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.39, Y:-0.68, Z:-0.01 [[ 9.99979260e-01 6.44046011e-03 0.00000000e+00 5.33887172e+01] [-6.44046011e-03 9.99979260e-01 0.00000000e+00 -6.83173432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25864258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.45, Y:-0.68, Z:-0.01 [[ 9.99782202e-01 2.08698200e-02 0.00000000e+00 5.34485087e+01] [-2.08698200e-02 9.99782202e-01 0.00000000e+00 -6.78544734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36023062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.67, Z:-0.01 [[ 9.99648730e-01 2.65031337e-02 0.00000000e+00 5.35071897e+01] [-2.65031337e-02 9.99648730e-01 0.00000000e+00 -6.74793018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24539912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.57, Y:-0.67, Z:-0.01 [[ 9.99558844e-01 2.97004443e-02 0.00000000e+00 5.35655051e+01] [-2.97004443e-02 9.99558844e-01 0.00000000e+00 -6.66693493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17497397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:-0.66, Z:-0.01 [[ 9.99541922e-01 3.02646109e-02 0.00000000e+00 5.36236451e+01] [-3.02646109e-02 9.99541922e-01 0.00000000e+00 -6.61521088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48950603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:-0.65, Z:-0.01 [[ 9.99604268e-01 2.81301885e-02 0.00000000e+00 5.36824159e+01] [-2.81301885e-02 9.99604268e-01 0.00000000e+00 -6.52214263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08476643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:-0.65, Z:-0.01 [[ 9.99710838e-01 2.40466146e-02 0.00000000e+00 5.37397866e+01] [-2.40466146e-02 9.99710838e-01 0.00000000e+00 -6.47335744e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.66335814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:-0.64, Z:-0.01 [[ 9.99709703e-01 2.40937856e-02 0.00000000e+00 5.37988342e+01] [-2.40937856e-02 9.99709703e-01 0.00000000e+00 -6.43413126e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20865008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:-0.63, Z:-0.01 [[ 9.99519945e-01 3.09819236e-02 0.00000000e+00 5.38570872e+01] [-3.09819236e-02 9.99519945e-01 0.00000000e+00 -6.28115434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23852815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.92, Y:-0.63, Z:-0.01 [[ 9.99651865e-01 2.63846140e-02 0.00000000e+00 5.39157277e+01] [-2.63846140e-02 9.99651865e-01 0.00000000e+00 -6.29197081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17982797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:-0.63, Z:-0.02 [[ 9.99834608e-01 1.81867025e-02 0.00000000e+00 5.39736467e+01] [-1.81867025e-02 9.99834608e-01 0.00000000e+00 -6.26417200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55313496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:-0.61, Z:-0.02 [[ 9.99952081e-01 9.78959418e-03 0.00000000e+00 5.40327368e+01] [-9.78959418e-03 9.99952081e-01 0.00000000e+00 -6.14784724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64241201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.09, Y:-0.61, Z:-0.01 [[ 9.99982188e-01 5.96854532e-03 0.00000000e+00 5.40915239e+01] [-5.96854532e-03 9.99982188e-01 0.00000000e+00 -6.11615623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14685752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:-0.61, Z:-0.01 [[ 9.99998291e-01 1.84895811e-03 0.00000000e+00 5.41510981e+01] [-1.84895811e-03 9.99998291e-01 0.00000000e+00 -6.13986918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41899302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:-0.61, Z:-0.01 [[ 9.99988390e-01 -4.81871797e-03 0.00000000e+00 5.42112580e+01] [ 4.81871797e-03 9.99988390e-01 0.00000000e+00 -6.12311899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28113281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:-0.60, Z:-0.01 [[ 9.99976046e-01 -6.92145682e-03 0.00000000e+00 5.42723532e+01] [ 6.92145682e-03 9.99976046e-01 0.00000000e+00 -6.01416694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04984673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.33, Y:-0.60, Z:-0.01 [[ 9.99958827e-01 -9.07435478e-03 0.00000000e+00 5.43343616e+01] [ 9.07435478e-03 9.99958827e-01 0.00000000e+00 -6.04551206e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86631086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:54.40, Y:-0.61, Z:-0.01 [[ 9.99893944e-01 -1.45636660e-02 0.00000000e+00 5.43967542e+01] [ 1.45636660e-02 9.99893944e-01 0.00000000e+00 -6.14860047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04420756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.46, Y:-0.62, Z:-0.01 [[ 9.99746638e-01 -2.25091269e-02 0.00000000e+00 5.44591850e+01] [ 2.25091269e-02 9.99746638e-01 0.00000000e+00 -6.17349438e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06704259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.52, Y:-0.62, Z:-0.01 [[ 9.99586182e-01 -2.87657024e-02 0.00000000e+00 5.45211173e+01] [ 2.87657024e-02 9.99586182e-01 0.00000000e+00 -6.21679938e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45776347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:-0.62, Z:-0.00 [[ 9.99735453e-01 -2.30005342e-02 0.00000000e+00 5.45834340e+01] [ 2.30005342e-02 9.99735453e-01 0.00000000e+00 -6.20804434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57674465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.65, Y:-0.63, Z:-0.01 [[ 9.99722617e-01 -2.35518442e-02 0.00000000e+00 5.46452167e+01] [ 2.35518442e-02 9.99722617e-01 0.00000000e+00 -6.27511751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09080299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.71, Y:-0.64, Z:-0.01 [[ 9.99753401e-01 -2.22067105e-02 0.00000000e+00 5.47079634e+01] [ 2.22067105e-02 9.99753401e-01 0.00000000e+00 -6.38896000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01163391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.77, Y:-0.64, Z:-0.01 [[ 9.99667512e-01 -2.57849907e-02 0.00000000e+00 5.47708220e+01] [ 2.57849907e-02 9.99667512e-01 0.00000000e+00 -6.41583511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11103258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.83, Y:-0.66, Z:-0.01 [[ 9.99642066e-01 -2.67533035e-02 0.00000000e+00 5.48343661e+01] [ 2.67533035e-02 9.99642066e-01 0.00000000e+00 -6.55669639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27596023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:54.90, Y:-0.66, Z:-0.01 [[ 9.99729362e-01 -2.32637743e-02 0.00000000e+00 5.48974600e+01] [ 2.32637743e-02 9.99729362e-01 0.00000000e+00 -6.62211278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02426336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.96, Y:-0.66, Z:-0.00 [[ 9.99788702e-01 -2.05560678e-02 0.00000000e+00 5.49607821e+01] [ 2.05560678e-02 9.99788702e-01 0.00000000e+00 -6.63837194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65118558e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.02, Y:-0.67, Z:-0.01 [[ 9.99982196e-01 -5.96721657e-03 0.00000000e+00 5.50228556e+01] [ 5.96721657e-03 9.99982196e-01 0.00000000e+00 -6.68592072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39135485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.08, Y:-0.67, Z:-0.01 [[ 9.99996258e-01 2.73569024e-03 0.00000000e+00 5.50843780e+01] [-2.73569024e-03 9.99996258e-01 0.00000000e+00 -6.72505324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13763534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.14, Y:-0.66, Z:-0.01 [[ 9.99899094e-01 1.42057177e-02 0.00000000e+00 5.51436248e+01] [-1.42057177e-02 9.99899094e-01 0.00000000e+00 -6.64053150e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25804091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.20, Y:-0.66, Z:-0.01 [[ 9.99758779e-01 2.19632164e-02 0.00000000e+00 5.52021097e+01] [-2.19632164e-02 9.99758779e-01 0.00000000e+00 -6.58784189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34640800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.26, Y:-0.65, Z:-0.01 [[ 9.99513965e-01 3.11742367e-02 0.00000000e+00 5.52604142e+01] [-3.11742367e-02 9.99513965e-01 0.00000000e+00 -6.54510221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71415079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:-0.64, Z:-0.01 [[ 9.99408771e-01 3.43818168e-02 0.00000000e+00 5.53184258e+01] [-3.43818168e-02 9.99408771e-01 0.00000000e+00 -6.40934416e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.91474228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.38, Y:-0.63, Z:-0.01 [[ 9.99297899e-01 3.74660950e-02 0.00000000e+00 5.53768481e+01] [-3.74660950e-02 9.99297899e-01 0.00000000e+00 -6.32512793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18706634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.44, Y:-0.62, Z:-0.00 [[ 9.99427348e-01 3.38374869e-02 0.00000000e+00 5.54358981e+01] [-3.38374869e-02 9.99427348e-01 0.00000000e+00 -6.18401639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21278045e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.49, Y:-0.61, Z:-0.00 [[ 9.99532107e-01 3.05870288e-02 0.00000000e+00 5.54948661e+01] [-3.05870288e-02 9.99532107e-01 0.00000000e+00 -6.08144826e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24636546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.55, Y:-0.61, Z:-0.01 [[ 9.99743275e-01 2.26579772e-02 0.00000000e+00 5.55537566e+01] [-2.26579772e-02 9.99743275e-01 0.00000000e+00 -6.06311612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70493595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.61, Y:-0.60, Z:-0.01 [[ 9.99977555e-01 6.69995401e-03 0.00000000e+00 5.56121155e+01] [-6.69995401e-03 9.99977555e-01 0.00000000e+00 -6.04770436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28552780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.67, Y:-0.61, Z:-0.02 [[ 9.99999438e-01 1.06015821e-03 0.00000000e+00 5.56712609e+01] [-1.06015821e-03 9.99999438e-01 0.00000000e+00 -6.06535774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67100583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:55.73, Y:-0.60, Z:-0.01 [[ 9.99999772e-01 -6.74952275e-04 0.00000000e+00 5.57315502e+01] [ 6.74952275e-04 9.99999772e-01 0.00000000e+00 -5.97686670e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01243215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.79, Y:-0.61, Z:-0.01 [[ 9.99988226e-01 -4.85252930e-03 0.00000000e+00 5.57918212e+01] [ 4.85252930e-03 9.99988226e-01 0.00000000e+00 -6.06123745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11975556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:-0.61, Z:-0.02 [[ 9.99951329e-01 -9.86612087e-03 0.00000000e+00 5.58531927e+01] [ 9.86612087e-03 9.99951329e-01 0.00000000e+00 -6.11166648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50705346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:-0.61, Z:-0.01 [[ 9.99869716e-01 -1.61415905e-02 0.00000000e+00 5.59156273e+01] [ 1.61415905e-02 9.99869716e-01 0.00000000e+00 -6.14022780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12475206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:-0.62, Z:-0.01 [[ 9.99818592e-01 -1.90468521e-02 0.00000000e+00 5.59788794e+01] [ 1.90468521e-02 9.99818592e-01 0.00000000e+00 -6.20234673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.09693676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.04, Y:-0.63, Z:-0.01 [[ 9.99807091e-01 -1.96412968e-02 0.00000000e+00 5.60420147e+01] [ 1.96412968e-02 9.99807091e-01 0.00000000e+00 -6.25197505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35327830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.11, Y:-0.64, Z:-0.02 [[ 9.99930104e-01 -1.18231550e-02 0.00000000e+00 5.61053977e+01] [ 1.18231550e-02 9.99930104e-01 0.00000000e+00 -6.38239414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53445759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.17, Y:-0.64, Z:-0.01 [[ 9.99984956e-01 -5.48529463e-03 0.00000000e+00 5.61679423e+01] [ 5.48529463e-03 9.99984956e-01 0.00000000e+00 -6.38237629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49827766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.23, Y:-0.64, Z:-0.02 [[ 9.99998368e-01 1.80664102e-03 0.00000000e+00 5.62290823e+01] [-1.80664102e-03 9.99998368e-01 0.00000000e+00 -6.39269569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51882009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.29, Y:-0.65, Z:-0.02 [[ 9.99965119e-01 8.35224881e-03 0.00000000e+00 5.62895386e+01] [-8.35224881e-03 9.99965119e-01 0.00000000e+00 -6.46366288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52631996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:-0.65, Z:-0.02 [[ 9.99894487e-01 1.45263442e-02 0.00000000e+00 5.63481483e+01] [-1.45263442e-02 9.99894487e-01 0.00000000e+00 -6.48807466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68820382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.41, Y:-0.65, Z:-0.01 [[ 9.99734241e-01 2.30531373e-02 0.00000000e+00 5.64064988e+01] [-2.30531373e-02 9.99734241e-01 0.00000000e+00 -6.45934848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41929530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.46, Y:-0.64, Z:-0.01 [[ 9.99662006e-01 2.59975904e-02 0.00000000e+00 5.64648183e+01] [-2.59975904e-02 9.99662006e-01 0.00000000e+00 -6.41819203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38951613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.52, Y:-0.64, Z:-0.02 [[ 9.99651668e-01 2.63921063e-02 0.00000000e+00 5.65236901e+01] [-2.63921063e-02 9.99651668e-01 0.00000000e+00 -6.42555179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79779484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.58, Y:-0.64, Z:-0.01 [[ 9.99677169e-01 2.54078338e-02 0.00000000e+00 5.65811192e+01] [-2.54078338e-02 9.99677169e-01 0.00000000e+00 -6.36177251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43375075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:-0.63, Z:-0.01 [[ 9.99782174e-01 2.08711549e-02 0.00000000e+00 5.66400088e+01] [-2.08711549e-02 9.99782174e-01 0.00000000e+00 -6.29945759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34139219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.70, Y:-0.62, Z:-0.01 [[ 9.99870507e-01 1.60925478e-02 0.00000000e+00 5.66976041e+01] [-1.60925478e-02 9.99870507e-01 0.00000000e+00 -6.24656335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49718956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:-0.62, Z:-0.01 [[ 9.99947434e-01 1.02532726e-02 0.00000000e+00 5.67560095e+01] [-1.02532726e-02 9.99947434e-01 0.00000000e+00 -6.19190220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33416401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.82, Y:-0.61, Z:-0.01 [[ 9.99977078e-01 6.77070821e-03 0.00000000e+00 5.68150318e+01] [-6.77070821e-03 9.99977078e-01 0.00000000e+00 -6.14558663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26694327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.87, Y:-0.61, Z:-0.02 [[ 9.99985870e-01 -5.31596516e-03 0.00000000e+00 5.68741896e+01] [ 5.31596516e-03 9.99985870e-01 0.00000000e+00 -6.12560858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55521500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.94, Y:-0.62, Z:-0.02 [[ 9.99896990e-01 -1.43529985e-02 0.00000000e+00 5.69354117e+01] [ 1.43529985e-02 9.99896990e-01 0.00000000e+00 -6.20881917e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64272567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.00, Y:-0.62, Z:-0.01 [[ 9.99806504e-01 -1.96711657e-02 0.00000000e+00 5.69975141e+01] [ 1.96711657e-02 9.99806504e-01 0.00000000e+00 -6.22029099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43122726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.06, Y:-0.63, Z:-0.01 [[ 9.99748092e-01 -2.24444220e-02 0.00000000e+00 5.70605681e+01] [ 2.24444220e-02 9.99748092e-01 0.00000000e+00 -6.25325802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41251421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.12, Y:-0.63, Z:-0.02 [[ 9.99754887e-01 -2.21396783e-02 0.00000000e+00 5.71233020e+01] [ 2.21396783e-02 9.99754887e-01 0.00000000e+00 -6.30860364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54202645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.19, Y:-0.64, Z:-0.01 [[ 9.99767353e-01 -2.15694420e-02 0.00000000e+00 5.71866070e+01] [ 2.15694420e-02 9.99767353e-01 0.00000000e+00 -6.36234125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44157112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.25, Y:-0.65, Z:-0.01 [[ 9.99736925e-01 -2.29364416e-02 0.00000000e+00 5.72500058e+01] [ 2.29364416e-02 9.99736925e-01 0.00000000e+00 -6.47089934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17576345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:-0.66, Z:-0.02 [[ 9.99664067e-01 -2.59181941e-02 0.00000000e+00 5.73126273e+01] [ 2.59181941e-02 9.99664067e-01 0.00000000e+00 -6.56140547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51423334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.38, Y:-0.66, Z:-0.02 [[ 9.99667165e-01 -2.57984469e-02 0.00000000e+00 5.73752480e+01] [ 2.57984469e-02 9.99667165e-01 0.00000000e+00 -6.63509191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54138685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.44, Y:-0.67, Z:-0.01 [[ 9.99808206e-01 -1.95844753e-02 0.00000000e+00 5.74375635e+01] [ 1.95844753e-02 9.99808206e-01 0.00000000e+00 -6.68094278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79535790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.50, Y:-0.68, Z:-0.00 [[ 9.99917846e-01 -1.28180231e-02 0.00000000e+00 5.75000565e+01] [ 1.28180231e-02 9.99917846e-01 0.00000000e+00 -6.76604465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91862589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.56, Y:-0.69, Z:-0.02 [[ 9.99989233e-01 -4.64035657e-03 0.00000000e+00 5.75624267e+01] [ 4.64035657e-03 9.99989233e-01 0.00000000e+00 -6.86314220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80067960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.62, Y:-0.68, Z:-0.01 [[ 9.99999696e-01 -7.79889218e-04 0.00000000e+00 5.76233872e+01] [ 7.79889218e-04 9.99999696e-01 0.00000000e+00 -6.82544095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28326882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.68, Y:-0.69, Z:-0.01 [[ 9.99993959e-01 3.47604867e-03 0.00000000e+00 5.76837334e+01] [-3.47604867e-03 9.99993959e-01 0.00000000e+00 -6.91797953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45175035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:-0.70, Z:-0.02 [[ 9.99991653e-01 4.08576366e-03 0.00000000e+00 5.77434701e+01] [-4.08576366e-03 9.99991653e-01 0.00000000e+00 -6.96772718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60888406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:-0.70, Z:-0.01 [[ 9.99980559e-01 6.23559008e-03 0.00000000e+00 5.78028873e+01] [-6.23559008e-03 9.99980559e-01 0.00000000e+00 -6.97397639e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33371456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:-0.69, Z:-0.02 [[ 9.99956322e-01 9.34631457e-03 0.00000000e+00 5.78620480e+01] [-9.34631457e-03 9.99956322e-01 0.00000000e+00 -6.93711880e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60805811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:-0.71, Z:-0.02 [[ 9.99952945e-01 9.70095095e-03 0.00000000e+00 5.79215498e+01] [-9.70095095e-03 9.99952945e-01 0.00000000e+00 -7.05248455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91876348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:-0.71, Z:-0.01 [[ 9.99953039e-01 9.69124680e-03 0.00000000e+00 5.79816702e+01] [-9.69124680e-03 9.99953039e-01 0.00000000e+00 -7.13710790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38027488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:58.04, Y:-0.70, Z:-0.01 [[ 9.99919869e-01 1.26592383e-02 0.00000000e+00 5.80416448e+01] [-1.26592383e-02 9.99919869e-01 0.00000000e+00 -7.02768884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37551101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.10, Y:-0.71, Z:-0.02 [[ 9.99953048e-01 9.69030420e-03 0.00000000e+00 5.81002855e+01] [-9.69030420e-03 9.99953048e-01 0.00000000e+00 -7.07776590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74401912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.16, Y:-0.72, Z:-0.02 [[ 9.99989383e-01 4.60808754e-03 0.00000000e+00 5.81598702e+01] [-4.60808754e-03 9.99989383e-01 0.00000000e+00 -7.16496919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50651647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.22, Y:-0.72, Z:-0.01 [[ 9.99997452e-01 -2.25761827e-03 0.00000000e+00 5.82199465e+01] [ 2.25761827e-03 9.99997452e-01 0.00000000e+00 -7.24857164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27746934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.28, Y:-0.73, Z:-0.01 [[ 9.99964881e-01 -8.38075303e-03 0.00000000e+00 5.82802250e+01] [ 8.38075303e-03 9.99964881e-01 0.00000000e+00 -7.30355424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25058459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.34, Y:-0.73, Z:-0.01 [[ 9.99976230e-01 -6.89492334e-03 0.00000000e+00 5.83411930e+01] [ 6.89492334e-03 9.99976230e-01 0.00000000e+00 -7.28756892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35039728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.40, Y:-0.74, Z:-0.01 [[ 9.99997292e-01 2.32710600e-03 0.00000000e+00 5.84025428e+01] [-2.32710600e-03 9.99997292e-01 0.00000000e+00 -7.35112806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92415448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.46, Y:-0.73, Z:-0.01 [[ 9.99976103e-01 6.91325969e-03 0.00000000e+00 5.84620709e+01] [-6.91325969e-03 9.99976103e-01 0.00000000e+00 -7.29813156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24956160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.52, Y:-0.73, Z:-0.01 [[ 9.99962945e-01 8.60861911e-03 0.00000000e+00 5.85218850e+01] [-8.60861911e-03 9.99962945e-01 0.00000000e+00 -7.25918640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31914086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:58.58, Y:-0.73, Z:-0.01 [[ 9.99980134e-01 6.30336594e-03 0.00000000e+00 5.85817688e+01] [-6.30336594e-03 9.99980134e-01 0.00000000e+00 -7.33855447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39755086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.64, Y:-0.73, Z:-0.02 [[ 9.99974138e-01 7.19183352e-03 0.00000000e+00 5.86415057e+01] [-7.19183352e-03 9.99974138e-01 0.00000000e+00 -7.25715793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58576799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.70, Y:-0.72, Z:-0.01 [[ 9.99899645e-01 1.41668927e-02 0.00000000e+00 5.87009240e+01] [-1.41668927e-02 9.99899645e-01 0.00000000e+00 -7.21168532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33855998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.76, Y:-0.72, Z:-0.01 [[ 9.99817244e-01 1.91174739e-02 0.00000000e+00 5.87600324e+01] [-1.91174739e-02 9.99817244e-01 0.00000000e+00 -7.16421932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55256269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.82, Y:-0.72, Z:-0.01 [[ 9.99815460e-01 1.92105846e-02 0.00000000e+00 5.88192081e+01] [-1.92105846e-02 9.99815460e-01 0.00000000e+00 -7.17563800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17167818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.88, Y:-0.71, Z:-0.01 [[ 9.99812814e-01 1.93477930e-02 0.00000000e+00 5.88784166e+01] [-1.93477930e-02 9.99812814e-01 0.00000000e+00 -7.08786607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33969273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.94, Y:-0.70, Z:-0.01 [[ 9.99758231e-01 2.19881727e-02 0.00000000e+00 5.89359019e+01] [-2.19881727e-02 9.99758231e-01 0.00000000e+00 -7.01245693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40999549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.99, Y:-0.70, Z:-0.01 [[ 9.99707585e-01 2.41815030e-02 0.00000000e+00 5.89948176e+01] [-2.41815030e-02 9.99707585e-01 0.00000000e+00 -7.00461648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29043403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.05, Y:-0.70, Z:-0.01 [[ 9.99766073e-01 2.16286842e-02 0.00000000e+00 5.90531330e+01] [-2.16286842e-02 9.99766073e-01 0.00000000e+00 -6.99426735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12461474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:-0.69, Z:-0.01 [[ 9.99727338e-01 2.33505844e-02 0.00000000e+00 5.91114615e+01] [-2.33505844e-02 9.99727338e-01 0.00000000e+00 -6.88928971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13144262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:-0.67, Z:-0.01 [[ 9.99564360e-01 2.95142364e-02 0.00000000e+00 5.91700070e+01] [-2.95142364e-02 9.99564360e-01 0.00000000e+00 -6.74618414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41306545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:-0.67, Z:-0.01 [[ 9.99507397e-01 3.13841353e-02 0.00000000e+00 5.92286293e+01] [-3.13841353e-02 9.99507397e-01 0.00000000e+00 -6.72964046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28136578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.66, Z:-0.01 [[ 9.99468006e-01 3.26144817e-02 0.00000000e+00 5.92866417e+01] [-3.26144817e-02 9.99468006e-01 0.00000000e+00 -6.63865441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07147038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.65, Z:-0.01 [[ 9.99562985e-01 2.95607535e-02 0.00000000e+00 5.93456084e+01] [-2.95607535e-02 9.99562985e-01 0.00000000e+00 -6.48929927e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09732559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:-0.64, Z:-0.01 [[ 9.99651336e-01 2.64046678e-02 0.00000000e+00 5.94033206e+01] [-2.64046678e-02 9.99651336e-01 0.00000000e+00 -6.38350644e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06292737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:-0.62, Z:-0.01 [[ 9.99829591e-01 1.84604741e-02 0.00000000e+00 5.94620119e+01] [-1.84604741e-02 9.99829591e-01 0.00000000e+00 -6.23784241e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46926578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:-0.62, Z:-0.01 [[ 9.99938600e-01 1.10813567e-02 0.00000000e+00 5.95205023e+01] [-1.10813567e-02 9.99938600e-01 0.00000000e+00 -6.15684796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44976311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:-0.61, Z:-0.02 [[ 9.99999038e-01 1.38683506e-03 0.00000000e+00 5.95791287e+01] [-1.38683506e-03 9.99999038e-01 0.00000000e+00 -6.07666522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53132694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.64, Y:-0.61, Z:-0.02 [[ 9.99988797e-01 -4.73341306e-03 0.00000000e+00 5.96394378e+01] [ 4.73341306e-03 9.99988797e-01 0.00000000e+00 -6.07432642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66658213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.70, Y:-0.60, Z:-0.01 [[ 9.99942732e-01 -1.07019951e-02 0.00000000e+00 5.97011755e+01] [ 1.07019951e-02 9.99942732e-01 0.00000000e+00 -6.04272532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46595305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.76, Y:-0.60, Z:-0.01 [[ 9.99808697e-01 -1.95593727e-02 0.00000000e+00 5.97639906e+01] [ 1.95593727e-02 9.99808697e-01 0.00000000e+00 -6.03366454e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21569766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.83, Y:-0.61, Z:-0.01 [[ 9.99694528e-01 -2.47153848e-02 0.00000000e+00 5.98267593e+01] [ 2.47153848e-02 9.99694528e-01 0.00000000e+00 -6.08563692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42213775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.89, Y:-0.61, Z:-0.01 [[ 9.99716746e-01 -2.37997482e-02 0.00000000e+00 5.98897963e+01] [ 2.37997482e-02 9.99716746e-01 0.00000000e+00 -6.12752827e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24634685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.95, Y:-0.61, Z:-0.01 [[ 9.99785069e-01 -2.07320009e-02 0.00000000e+00 5.99520316e+01] [ 2.07320009e-02 9.99785069e-01 0.00000000e+00 -6.12172128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27945818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.01, Y:-0.62, Z:-0.01 [[ 9.99837467e-01 -1.80288642e-02 0.00000000e+00 6.00144633e+01] [ 1.80288642e-02 9.99837467e-01 0.00000000e+00 -6.16122870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32153303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:-0.62, Z:-0.01 [[ 9.99844525e-01 -1.76330630e-02 0.00000000e+00 6.00764864e+01] [ 1.76330630e-02 9.99844525e-01 0.00000000e+00 -6.19186513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17117687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:-0.62, Z:-0.01 [[ 9.99822192e-01 -1.88569262e-02 0.00000000e+00 6.01400270e+01] [ 1.88569262e-02 9.99822192e-01 0.00000000e+00 -6.23847888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10485040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.20, Y:-0.63, Z:-0.02 [[ 9.99774593e-01 -2.12312033e-02 0.00000000e+00 6.02027598e+01] [ 2.12312033e-02 9.99774593e-01 0.00000000e+00 -6.33586254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06950650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.63, Z:-0.01 [[ 9.99848841e-01 -1.73866281e-02 0.00000000e+00 6.02658285e+01] [ 1.73866281e-02 9.99848841e-01 0.00000000e+00 -6.30709098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48121363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.63, Z:-0.01 [[ 9.99987299e-01 -5.04000945e-03 0.00000000e+00 6.03276238e+01] [ 5.04000945e-03 9.99987299e-01 0.00000000e+00 -6.28551985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31973380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.39, Y:-0.63, Z:-0.02 [[ 9.99994813e-01 3.22078229e-03 0.00000000e+00 6.03886152e+01] [-3.22078229e-03 9.99994813e-01 0.00000000e+00 -6.30155182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51261901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.45, Y:-0.63, Z:-0.01 [[ 9.99956546e-01 9.32233988e-03 0.00000000e+00 6.04481083e+01] [-9.32233988e-03 9.99956546e-01 0.00000000e+00 -6.26722408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33818809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:-0.62, Z:-0.01 [[ 9.99958565e-01 9.10321040e-03 0.00000000e+00 6.05069126e+01] [-9.10321040e-03 9.99958565e-01 0.00000000e+00 -6.18428933e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08948908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:-0.62, Z:-0.01 [[ 9.99975292e-01 7.02963318e-03 0.00000000e+00 6.05652812e+01] [-7.02963318e-03 9.99975292e-01 0.00000000e+00 -6.16874090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26833311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.62, Z:-0.01 [[ 9.99983794e-01 5.69318506e-03 0.00000000e+00 6.06237646e+01] [-5.69318506e-03 9.99983794e-01 0.00000000e+00 -6.17909016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66816230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:-0.61, Z:-0.01 [[ 9.99983263e-01 5.78572388e-03 0.00000000e+00 6.06838241e+01] [-5.78572388e-03 9.99983263e-01 0.00000000e+00 -6.11650128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42100846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.74, Y:-0.61, Z:-0.01 [[ 9.99970619e-01 7.66562866e-03 0.00000000e+00 6.07431265e+01] [-7.66562866e-03 9.99970619e-01 0.00000000e+00 -6.12742743e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08210552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:-0.60, Z:-0.01 [[ 9.99964832e-01 8.38660448e-03 0.00000000e+00 6.08017399e+01] [-8.38660448e-03 9.99964832e-01 0.00000000e+00 -6.04404488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00799907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.86, Y:-0.62, Z:-0.01 [[ 9.99989093e-01 4.67046232e-03 0.00000000e+00 6.08610339e+01] [-4.67046232e-03 9.99989093e-01 0.00000000e+00 -6.15038169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06260234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.92, Y:-0.61, Z:-0.01 [[ 9.99999972e-01 -2.37846377e-04 0.00000000e+00 6.09210270e+01] [ 2.37846377e-04 9.99999972e-01 0.00000000e+00 -6.11740797e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25252523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.98, Y:-0.61, Z:-0.01 [[ 9.99986326e-01 -5.22943817e-03 0.00000000e+00 6.09810967e+01] [ 5.22943817e-03 9.99986326e-01 0.00000000e+00 -6.07225564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32114172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.04, Y:-0.60, Z:-0.01 [[ 9.99989808e-01 -4.51485630e-03 0.00000000e+00 6.10422495e+01] [ 4.51485630e-03 9.99989808e-01 0.00000000e+00 -6.04521019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19737913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.10, Y:-0.61, Z:-0.01 [[ 9.99997530e-01 -2.22252218e-03 0.00000000e+00 6.11036849e+01] [ 2.22252218e-03 9.99997530e-01 0.00000000e+00 -6.05222936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15531162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.17, Y:-0.60, Z:-0.01 [[ 9.99999923e-01 -3.91645191e-04 0.00000000e+00 6.11653205e+01] [ 3.91645191e-04 9.99999923e-01 0.00000000e+00 -6.03254537e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17035889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.23, Y:-0.60, Z:-0.01 [[ 9.99995693e-01 -2.93510598e-03 0.00000000e+00 6.12254293e+01] [ 2.93510598e-03 9.99995693e-01 0.00000000e+00 -6.03587677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45959175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.61, Z:-0.01 [[ 9.99975297e-01 -7.02889727e-03 0.00000000e+00 6.12866096e+01] [ 7.02889727e-03 9.99975297e-01 0.00000000e+00 -6.05129418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12050870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:-0.60, Z:-0.01 [[ 9.99945430e-01 -1.04468902e-02 0.00000000e+00 6.13482970e+01] [ 1.04468902e-02 9.99945430e-01 0.00000000e+00 -5.98502314e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.76574788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:-0.61, Z:-0.01 [[ 9.99905125e-01 -1.37746388e-02 0.00000000e+00 6.14108795e+01] [ 1.37746388e-02 9.99905125e-01 0.00000000e+00 -6.06069885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41598416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.47, Y:-0.61, Z:-0.01 [[ 9.99870878e-01 -1.60694264e-02 0.00000000e+00 6.14735481e+01] [ 1.60694264e-02 9.99870878e-01 0.00000000e+00 -6.09830328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15722933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.54, Y:-0.61, Z:-0.01 [[ 9.99845429e-01 -1.75817668e-02 0.00000000e+00 6.15356071e+01] [ 1.75817668e-02 9.99845429e-01 0.00000000e+00 -6.13325779e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96260561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:61.60, Y:-0.62, Z:-0.01 [[ 9.99836170e-01 -1.81006604e-02 0.00000000e+00 6.15977050e+01] [ 1.81006604e-02 9.99836170e-01 0.00000000e+00 -6.16002421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30263813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.66, Y:-0.62, Z:-0.02 [[ 9.99765599e-01 -2.16505553e-02 0.00000000e+00 6.16594078e+01] [ 2.16505553e-02 9.99765599e-01 0.00000000e+00 -6.18101065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67435473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.72, Y:-0.63, Z:-0.01 [[ 9.99599282e-01 -2.83068039e-02 0.00000000e+00 6.17213054e+01] [ 2.83068039e-02 9.99599282e-01 0.00000000e+00 -6.33553361e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30795163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.78, Y:-0.64, Z:-0.01 [[ 9.99696322e-01 -2.46427224e-02 0.00000000e+00 6.17832347e+01] [ 2.46427224e-02 9.99696322e-01 0.00000000e+00 -6.37616277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06581108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.85, Y:-0.63, Z:-0.01 [[ 9.99901762e-01 -1.40166702e-02 0.00000000e+00 6.18458835e+01] [ 1.40166702e-02 9.99901762e-01 0.00000000e+00 -6.34132204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10730996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.91, Y:-0.63, Z:-0.01 [[ 9.99971825e-01 -7.50659845e-03 0.00000000e+00 6.19082496e+01] [ 7.50659845e-03 9.99971825e-01 0.00000000e+00 -6.33904813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37986551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.97, Y:-0.64, Z:-0.01 [[ 9.99992159e-01 -3.96009853e-03 0.00000000e+00 6.19697675e+01] [ 3.96009853e-03 9.99992159e-01 0.00000000e+00 -6.43800620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22210662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.03, Y:-0.64, Z:-0.01 [[ 9.99987101e-01 -5.07913202e-03 0.00000000e+00 6.20315370e+01] [ 5.07913202e-03 9.99987101e-01 0.00000000e+00 -6.43864979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35617445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.09, Y:-0.64, Z:-0.01 [[ 9.99955721e-01 -9.41044545e-03 0.00000000e+00 6.20925886e+01] [ 9.41044545e-03 9.99955721e-01 0.00000000e+00 -6.42531309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24508517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.15, Y:-0.65, Z:-0.01 [[ 9.99911602e-01 -1.32961922e-02 0.00000000e+00 6.21547473e+01] [ 1.32961922e-02 9.99911602e-01 0.00000000e+00 -6.50727237e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01509875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.22, Y:-0.65, Z:-0.01 [[ 9.99898423e-01 -1.42528428e-02 0.00000000e+00 6.22172888e+01] [ 1.42528428e-02 9.99898423e-01 0.00000000e+00 -6.54969187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29216939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:-0.66, Z:-0.01 [[ 9.99942696e-01 -1.07053136e-02 0.00000000e+00 6.22791496e+01] [ 1.07053136e-02 9.99942696e-01 0.00000000e+00 -6.61517275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17575278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:-0.66, Z:-0.01 [[ 9.99976202e-01 -6.89891910e-03 0.00000000e+00 6.23412720e+01] [ 6.89891910e-03 9.99976202e-01 0.00000000e+00 -6.61336047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88495769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:-0.67, Z:-0.02 [[ 9.99990641e-01 -4.32651001e-03 0.00000000e+00 6.24031390e+01] [ 4.32651001e-03 9.99990641e-01 0.00000000e+00 -6.72291140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56255038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.46, Y:-0.67, Z:-0.01 [[ 9.99996168e-01 -2.76841336e-03 0.00000000e+00 6.24645257e+01] [ 2.76841336e-03 9.99996168e-01 0.00000000e+00 -6.72883352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48592792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.53, Y:-0.67, Z:-0.01 [[ 9.99995071e-01 -3.13969574e-03 0.00000000e+00 6.25252593e+01] [ 3.13969574e-03 9.99995071e-01 0.00000000e+00 -6.72412000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29214180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.59, Y:-0.67, Z:-0.01 [[ 9.99999358e-01 -1.13283327e-03 0.00000000e+00 6.25861681e+01] [ 1.13283327e-03 9.99999358e-01 0.00000000e+00 -6.71421411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21204154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.65, Y:-0.67, Z:-0.01 [[ 9.99998367e-01 1.80743879e-03 0.00000000e+00 6.26465419e+01] [-1.80743879e-03 9.99998367e-01 0.00000000e+00 -6.68339434e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14192100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.71, Y:-0.67, Z:-0.01 [[ 9.99999893e-01 4.63118691e-04 0.00000000e+00 6.27072505e+01] [-4.63118691e-04 9.99999893e-01 0.00000000e+00 -6.72859196e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30306693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.77, Y:-0.67, Z:-0.01 [[ 9.99997517e-01 -2.22833120e-03 0.00000000e+00 6.27679243e+01] [ 2.22833120e-03 9.99997517e-01 0.00000000e+00 -6.69885049e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18350627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.83, Y:-0.68, Z:-0.01 [[ 9.99980590e-01 -6.23059675e-03 0.00000000e+00 6.28287548e+01] [ 6.23059675e-03 9.99980590e-01 0.00000000e+00 -6.76213287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27120142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.89, Y:-0.68, Z:-0.01 [[ 9.99978290e-01 -6.58935763e-03 0.00000000e+00 6.28903083e+01] [ 6.58935763e-03 9.99978290e-01 0.00000000e+00 -6.79809614e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36933399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.95, Y:-0.68, Z:-0.01 [[ 9.99988277e-01 -4.84201960e-03 0.00000000e+00 6.29511985e+01] [ 4.84201960e-03 9.99988277e-01 0.00000000e+00 -6.83071676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01256153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:63.01, Y:-0.69, Z:-0.01 [[ 9.99977429e-01 -6.71876591e-03 0.00000000e+00 6.30123912e+01] [ 6.71876591e-03 9.99977429e-01 0.00000000e+00 -6.86855587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14283936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.07, Y:-0.69, Z:-0.01 [[ 9.99990456e-01 -4.36908092e-03 0.00000000e+00 6.30736480e+01] [ 4.36908092e-03 9.99990456e-01 0.00000000e+00 -6.88728506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.47700913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:-0.70, Z:-0.00 [[ 9.99969555e-01 -7.80319730e-03 0.00000000e+00 6.31352930e+01] [ 7.80319730e-03 9.99969555e-01 0.00000000e+00 -6.96459707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80715435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.20, Y:-0.70, Z:-0.01 [[ 9.99906947e-01 -1.36417572e-02 0.00000000e+00 6.31963024e+01] [ 1.36417572e-02 9.99906947e-01 0.00000000e+00 -7.02402123e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17063035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.26, Y:-0.71, Z:-0.01 [[ 9.99911226e-01 -1.33244010e-02 0.00000000e+00 6.32581285e+01] [ 1.33244010e-02 9.99911226e-01 0.00000000e+00 -7.10956459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18512872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.32, Y:-0.71, Z:-0.01 [[ 9.99969843e-01 -7.76608870e-03 0.00000000e+00 6.33191927e+01] [ 7.76608870e-03 9.99969843e-01 0.00000000e+00 -7.13228103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11027932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.38, Y:-0.71, Z:-0.01 [[ 9.99994642e-01 3.27362100e-03 0.00000000e+00 6.33806717e+01] [-3.27362100e-03 9.99994642e-01 0.00000000e+00 -7.14861587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96257669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.44, Y:-0.72, Z:-0.01 [[ 9.99967165e-01 8.10361284e-03 0.00000000e+00 6.34407722e+01] [-8.10361284e-03 9.99967165e-01 0.00000000e+00 -7.21435220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22166389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.50, Y:-0.72, Z:-0.01 [[ 9.99923193e-01 1.23938698e-02 0.00000000e+00 6.35007655e+01] [-1.23938698e-02 9.99923193e-01 0.00000000e+00 -7.22756307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44639808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.56, Y:-0.72, Z:-0.01 [[ 9.99874557e-01 1.58388976e-02 0.00000000e+00 6.35608964e+01] [-1.58388976e-02 9.99874557e-01 0.00000000e+00 -7.18729902e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19099973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.62, Y:-0.72, Z:-0.01 [[ 9.99813672e-01 1.93034252e-02 0.00000000e+00 6.36204810e+01] [-1.93034252e-02 9.99813672e-01 0.00000000e+00 -7.22592070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.45175845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.68, Y:-0.72, Z:-0.01 [[ 9.99735199e-01 2.30115453e-02 0.00000000e+00 6.36795754e+01] [-2.30115453e-02 9.99735199e-01 0.00000000e+00 -7.18672579e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78355557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.74, Y:-0.71, Z:-0.01 [[ 9.99627108e-01 2.73065048e-02 0.00000000e+00 6.37384873e+01] [-2.73065048e-02 9.99627108e-01 0.00000000e+00 -7.11040641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61026260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.80, Y:-0.70, Z:-0.01 [[ 9.99694364e-01 2.47220329e-02 0.00000000e+00 6.37965645e+01] [-2.47220329e-02 9.99694364e-01 0.00000000e+00 -7.03164864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67963211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.85, Y:-0.71, Z:-0.01 [[ 9.99850967e-01 1.72639273e-02 0.00000000e+00 6.38549124e+01] [-1.72639273e-02 9.99850967e-01 0.00000000e+00 -7.07424008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34666365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.91, Y:-0.71, Z:-0.01 [[ 9.99976925e-01 6.79331280e-03 0.00000000e+00 6.39138531e+01] [-6.79331280e-03 9.99976925e-01 0.00000000e+00 -7.12330559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21081434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.97, Y:-0.71, Z:-0.01 [[ 9.99997969e-01 -2.01563869e-03 0.00000000e+00 6.39731161e+01] [ 2.01563869e-03 9.99997969e-01 0.00000000e+00 -7.10185388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90131350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782320588000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.03, Y:-0.71, Z:-0.01 [[ 9.99974245e-01 -7.17693212e-03 0.00000000e+00 6.40337341e+01] [ 7.17693212e-03 9.99974245e-01 0.00000000e+00 -7.12488195e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36405925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.09, Y:-0.71, Z:-0.00 [[ 9.99948933e-01 -1.01060432e-02 0.00000000e+00 6.40948587e+01] [ 1.01060432e-02 9.99948933e-01 0.00000000e+00 -7.12480703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45816496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.16, Y:-0.71, Z:-0.01 [[ 9.99994931e-01 -3.18397634e-03 0.00000000e+00 6.41563441e+01] [ 3.18397634e-03 9.99994931e-01 0.00000000e+00 -7.11123032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01044846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962320588000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.22, Y:-0.71, Z:-0.01 [[ 9.99999493e-01 -1.00651521e-03 0.00000000e+00 6.42172693e+01] [ 1.00651521e-03 9.99999493e-01 0.00000000e+00 -7.10950505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86370536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.28, Y:-0.71, Z:-0.01 [[ 9.99999952e-01 3.10533686e-04 0.00000000e+00 6.42781549e+01] [-3.10533686e-04 9.99999952e-01 0.00000000e+00 -7.08519622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08377423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.34, Y:-0.71, Z:-0.01 [[ 9.99999275e-01 1.20383343e-03 0.00000000e+00 6.43385975e+01] [-1.20383343e-03 9.99999275e-01 0.00000000e+00 -7.06640405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21097677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.40, Y:-0.70, Z:-0.01 [[ 9.99999392e-01 1.10264235e-03 0.00000000e+00 6.43989715e+01] [-1.10264235e-03 9.99999392e-01 0.00000000e+00 -7.03841191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.66094945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.70, Z:-0.00 [[ 9.99977532e-01 -6.70334256e-03 0.00000000e+00 6.44595069e+01] [ 6.70334256e-03 9.99977532e-01 0.00000000e+00 -7.01423275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14358482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.52, Y:-0.71, Z:-0.01 [[ 9.99911352e-01 -1.33149707e-02 0.00000000e+00 6.45212710e+01] [ 1.33149707e-02 9.99911352e-01 0.00000000e+00 -7.09482184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29590343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.58, Y:-0.71, Z:-0.01 [[ 9.99727343e-01 -2.33503491e-02 0.00000000e+00 6.45831557e+01] [ 2.33503491e-02 9.99727343e-01 0.00000000e+00 -7.10134918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07001428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:64.65, Y:-0.72, Z:-0.01 [[ 9.99665585e-01 -2.58595880e-02 0.00000000e+00 6.46459286e+01] [ 2.58595880e-02 9.99665585e-01 0.00000000e+00 -7.15278550e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10596961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.71, Y:-0.72, Z:-0.01 [[ 9.99658347e-01 -2.61378891e-02 0.00000000e+00 6.47091983e+01] [ 2.61378891e-02 9.99658347e-01 0.00000000e+00 -7.16716869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.45028224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:-0.72, Z:-0.01 [[ 9.99699292e-01 -2.45219505e-02 0.00000000e+00 6.47722341e+01] [ 2.45219505e-02 9.99699292e-01 0.00000000e+00 -7.20573494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15925967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.73, Z:-0.01 [[ 9.99642176e-01 -2.67492126e-02 0.00000000e+00 6.48342078e+01] [ 2.67492126e-02 9.99642176e-01 0.00000000e+00 -7.26765846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.84541276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.90, Y:-0.73, Z:-0.01 [[ 9.99592200e-01 -2.85558052e-02 0.00000000e+00 6.48965751e+01] [ 2.85558052e-02 9.99592200e-01 0.00000000e+00 -7.29843567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12774256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.96, Y:-0.74, Z:-0.01 [[ 9.99513474e-01 -3.11899906e-02 0.00000000e+00 6.49591656e+01] [ 3.11899906e-02 9.99513474e-01 0.00000000e+00 -7.37624665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28509299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.02, Y:-0.74, Z:-0.01 [[ 9.99694466e-01 -2.47178814e-02 0.00000000e+00 6.50210171e+01] [ 2.47178814e-02 9.99694466e-01 0.00000000e+00 -7.44829999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19707968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.08, Y:-0.75, Z:-0.01 [[ 9.99841480e-01 -1.78049154e-02 0.00000000e+00 6.50830769e+01] [ 1.78049154e-02 9.99841480e-01 0.00000000e+00 -7.48737415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14929394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.14, Y:-0.75, Z:-0.01 [[ 9.99972321e-01 -7.44018232e-03 0.00000000e+00 6.51445245e+01] [ 7.44018232e-03 9.99972321e-01 0.00000000e+00 -7.53727245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00744691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.20, Y:-0.76, Z:-0.01 [[ 9.99996731e-01 -2.55692623e-03 0.00000000e+00 6.52045885e+01] [ 2.55692623e-03 9.99996731e-01 0.00000000e+00 -7.58653590e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16631665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.27, Y:-0.77, Z:-0.01 [[ 9.99976066e-01 -6.91862989e-03 0.00000000e+00 6.52652754e+01] [ 6.91862989e-03 9.99976066e-01 0.00000000e+00 -7.65932547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.59003107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.33, Y:-0.78, Z:-0.01 [[ 9.99972627e-01 -7.39899224e-03 0.00000000e+00 6.53261782e+01] [ 7.39899224e-03 9.99972627e-01 0.00000000e+00 -7.75308692e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99920564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.39, Y:-0.77, Z:-0.01 [[ 9.99999653e-01 -8.32643062e-04 0.00000000e+00 6.53867972e+01] [ 8.32643062e-04 9.99999653e-01 0.00000000e+00 -7.71818786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11054358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:-0.77, Z:-0.01 [[ 9.99984063e-01 5.64574441e-03 0.00000000e+00 6.54474941e+01] [-5.64574441e-03 9.99984063e-01 0.00000000e+00 -7.74447800e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16344013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:-0.79, Z:-0.01 [[ 9.99987816e-01 4.93636622e-03 0.00000000e+00 6.55076854e+01] [-4.93636622e-03 9.99987816e-01 0.00000000e+00 -7.85513327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14149751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:-0.79, Z:-0.01 [[ 9.99999954e-01 3.02485973e-04 0.00000000e+00 6.55683800e+01] [-3.02485973e-04 9.99999954e-01 0.00000000e+00 -7.87425470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15612109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:-0.78, Z:-0.01 [[ 9.99999909e-01 4.27642074e-04 0.00000000e+00 6.56291280e+01] [-4.27642074e-04 9.99999909e-01 0.00000000e+00 -7.83599144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73501849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.69, Y:-0.79, Z:-0.01 [[ 9.99986506e-01 5.19488673e-03 0.00000000e+00 6.56894390e+01] [-5.19488673e-03 9.99986506e-01 0.00000000e+00 -7.86309707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62788801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:65.75, Y:-0.79, Z:-0.01 [[ 9.99942527e-01 1.07211554e-02 0.00000000e+00 6.57502401e+01] [-1.07211554e-02 9.99942527e-01 0.00000000e+00 -7.89610955e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25508423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.81, Y:-0.79, Z:-0.01 [[ 9.99923729e-01 1.23505158e-02 0.00000000e+00 6.58106288e+01] [-1.23505158e-02 9.99923729e-01 0.00000000e+00 -7.85947685e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.59296415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.87, Y:-0.78, Z:-0.01 [[ 9.99930968e-01 1.17498839e-02 0.00000000e+00 6.58710909e+01] [-1.17498839e-02 9.99930968e-01 0.00000000e+00 -7.84801129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76772758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.93, Y:-0.79, Z:-0.01 [[ 9.99904412e-01 1.38263097e-02 0.00000000e+00 6.59312558e+01] [-1.38263097e-02 9.99904412e-01 0.00000000e+00 -7.85072358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57855043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.99, Y:-0.78, Z:-0.01 [[ 9.99899107e-01 1.42047892e-02 0.00000000e+00 6.59912739e+01] [-1.42047892e-02 9.99899107e-01 0.00000000e+00 -7.84404169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02039115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.05, Y:-0.78, Z:-0.01 [[ 9.99923417e-01 1.23757591e-02 0.00000000e+00 6.60522022e+01] [-1.23757591e-02 9.99923417e-01 0.00000000e+00 -7.81269298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66053869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.11, Y:-0.78, Z:-0.01 [[ 9.99956404e-01 9.33759496e-03 0.00000000e+00 6.61126672e+01] [-9.33759496e-03 9.99956404e-01 0.00000000e+00 -7.81488328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87798917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.17, Y:-0.78, Z:-0.01 [[ 9.99977257e-01 6.74424569e-03 0.00000000e+00 6.61727605e+01] [-6.74424569e-03 9.99977257e-01 0.00000000e+00 -7.77121052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.52512364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.77, Z:-0.01 [[ 9.99999943e-01 -3.36689828e-04 0.00000000e+00 6.62334675e+01] [ 3.36689828e-04 9.99999943e-01 0.00000000e+00 -7.73393469e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52414831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.78, Z:-0.01 [[ 9.99958044e-01 -9.16025970e-03 0.00000000e+00 6.62934847e+01] [ 9.16025970e-03 9.99958044e-01 0.00000000e+00 -7.77100529e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51188278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.35, Y:-0.78, Z:0.00 [[ 9.99898306e-01 -1.42610426e-02 0.00000000e+00 6.63540974e+01] [ 1.42610426e-02 9.99898306e-01 0.00000000e+00 -7.82133869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82159264e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.42, Y:-0.79, Z:-0.01 [[ 9.99773263e-01 -2.12937406e-02 0.00000000e+00 6.64154370e+01] [ 2.12937406e-02 9.99773263e-01 0.00000000e+00 -7.86234103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97816336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.48, Y:-0.79, Z:-0.01 [[ 9.99752418e-01 -2.22508941e-02 0.00000000e+00 6.64766942e+01] [ 2.22508941e-02 9.99752418e-01 0.00000000e+00 -7.93677432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22249118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.54, Y:-0.79, Z:-0.00 [[ 9.99842768e-01 -1.77324283e-02 0.00000000e+00 6.65384588e+01] [ 1.77324283e-02 9.99842768e-01 0.00000000e+00 -7.91402025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90731443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.60, Y:-0.81, Z:-0.01 [[ 9.99870246e-01 -1.61087096e-02 0.00000000e+00 6.65992389e+01] [ 1.61087096e-02 9.99870246e-01 0.00000000e+00 -8.11247058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71217191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.66, Y:-0.82, Z:-0.00 [[ 9.99851158e-01 -1.72528965e-02 0.00000000e+00 6.66594032e+01] [ 1.72528965e-02 9.99851158e-01 0.00000000e+00 -8.19009557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80771830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.72, Y:-0.82, Z:-0.00 [[ 9.99984978e-01 -5.48129660e-03 0.00000000e+00 6.67195925e+01] [ 5.48129660e-03 9.99984978e-01 0.00000000e+00 -8.17643596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15091373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.78, Y:-0.82, Z:-0.00 [[ 9.99993415e-01 3.62903548e-03 0.00000000e+00 6.67803674e+01] [-3.62903548e-03 9.99993415e-01 0.00000000e+00 -8.20131111e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73680217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:66.84, Y:-0.83, Z:0.01 [[ 9.99929078e-01 1.19095782e-02 0.00000000e+00 6.68408455e+01] [-1.19095782e-02 9.99929078e-01 0.00000000e+00 -8.26224622e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16095593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.602320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:66.90, Y:-0.82, Z:0.00 [[ 9.99882490e-01 1.53299350e-02 0.00000000e+00 6.69007321e+01] [-1.53299350e-02 9.99882490e-01 0.00000000e+00 -8.24689292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64748666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.96, Y:-0.81, Z:0.00 [[ 9.99791076e-01 2.04402465e-02 0.00000000e+00 6.69613387e+01] [-2.04402465e-02 9.99791076e-01 0.00000000e+00 -8.13279003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41321601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.02, Y:-0.81, Z:-0.00 [[ 9.99651035e-01 2.64160604e-02 0.00000000e+00 6.70217104e+01] [-2.64160604e-02 9.99651035e-01 0.00000000e+00 -8.10537203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90603722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.08, Y:-0.81, Z:-0.01 [[ 9.99692514e-01 2.47967247e-02 0.00000000e+00 6.70819025e+01] [-2.47967247e-02 9.99692514e-01 0.00000000e+00 -8.06030903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74566453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.14, Y:-0.80, Z:0.00 [[ 9.99882545e-01 1.53262971e-02 0.00000000e+00 6.71420975e+01] [-1.53262971e-02 9.99882545e-01 0.00000000e+00 -7.98367378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79317597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.20, Y:-0.79, Z:-0.00 [[ 9.99963510e-01 8.54279360e-03 0.00000000e+00 6.72021511e+01] [-8.54279360e-03 9.99963510e-01 0.00000000e+00 -7.93700218e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90980959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.26, Y:-0.80, Z:-0.01 [[ 9.99993980e-01 3.46982403e-03 0.00000000e+00 6.72631014e+01] [-3.46982403e-03 9.99993980e-01 0.00000000e+00 -7.99411747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07426823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.32, Y:-0.80, Z:-0.00 [[ 9.99999229e-01 -1.24212586e-03 0.00000000e+00 6.73233236e+01] [ 1.24212586e-03 9.99999229e-01 0.00000000e+00 -7.99886267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80873505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.38, Y:-0.80, Z:0.00 [[ 9.99983065e-01 -5.81968940e-03 0.00000000e+00 6.73840594e+01] [ 5.81968940e-03 9.99983065e-01 0.00000000e+00 -7.99246654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26676624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.44, Y:-0.81, Z:-0.00 [[ 9.99961478e-01 -8.77736548e-03 0.00000000e+00 6.74442250e+01] [ 8.77736548e-03 9.99961478e-01 0.00000000e+00 -8.11612693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04872916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.50, Y:-0.81, Z:-0.00 [[ 9.99948495e-01 -1.01492207e-02 0.00000000e+00 6.75044950e+01] [ 1.01492207e-02 9.99948495e-01 0.00000000e+00 -8.12977126e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17010653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.56, Y:-0.82, Z:0.00 [[ 9.99990305e-01 -4.40341444e-03 0.00000000e+00 6.75646747e+01] [ 4.40341444e-03 9.99990305e-01 0.00000000e+00 -8.16548812e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12103678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:-0.82, Z:0.00 [[ 9.99992730e-01 3.81318131e-03 0.00000000e+00 6.76255940e+01] [-3.81318131e-03 9.99992730e-01 0.00000000e+00 -8.19692070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77046646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.69, Y:-0.82, Z:-0.01 [[ 9.99917405e-01 1.28523834e-02 0.00000000e+00 6.76862634e+01] [-1.28523834e-02 9.99917405e-01 0.00000000e+00 -8.20755488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.18240081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.75, Y:-0.82, Z:-0.00 [[ 9.99850300e-01 1.73025189e-02 0.00000000e+00 6.77472330e+01] [-1.73025189e-02 9.99850300e-01 0.00000000e+00 -8.22568291e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78657914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.81, Y:-0.81, Z:0.01 [[ 9.99749752e-01 2.23703882e-02 0.00000000e+00 6.78073791e+01] [-2.23703882e-02 9.99749752e-01 0.00000000e+00 -8.12901562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21803166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.87, Y:-0.81, Z:0.00 [[ 9.99661455e-01 2.60187600e-02 0.00000000e+00 6.78679068e+01] [-2.60187600e-02 9.99661455e-01 0.00000000e+00 -8.08205410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40240375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:-0.80, Z:-0.00 [[ 9.99482870e-01 3.21557568e-02 0.00000000e+00 6.79287556e+01] [-3.21557568e-02 9.99482870e-01 0.00000000e+00 -8.02192071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42191192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.99, Y:-0.79, Z:0.00 [[ 9.99364259e-01 3.56521754e-02 0.00000000e+00 6.79889334e+01] [-3.56521754e-02 9.99364259e-01 0.00000000e+00 -7.91516317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89633026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.05, Y:-0.78, Z:0.01 [[ 9.99346990e-01 3.61329958e-02 0.00000000e+00 6.80486564e+01] [-3.61329958e-02 9.99346990e-01 0.00000000e+00 -7.80056438e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84140458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.11, Y:-0.77, Z:-0.00 [[ 9.99524204e-01 3.08442280e-02 0.00000000e+00 6.81079156e+01] [-3.08442280e-02 9.99524204e-01 0.00000000e+00 -7.74014018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94067024e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.17, Y:-0.77, Z:0.00 [[ 9.99741873e-01 2.27197777e-02 0.00000000e+00 6.81675152e+01] [-2.27197777e-02 9.99741873e-01 0.00000000e+00 -7.71059525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53760521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.77, Z:0.00 [[ 9.99826263e-01 1.86398357e-02 0.00000000e+00 6.82267631e+01] [-1.86398357e-02 9.99826263e-01 0.00000000e+00 -7.69537559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36801705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.29, Y:-0.76, Z:-0.00 [[ 9.99839885e-01 1.78942613e-02 0.00000000e+00 6.82862651e+01] [-1.78942613e-02 9.99839885e-01 0.00000000e+00 -7.57195717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55207779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.35, Y:-0.75, Z:-0.00 [[ 9.99761122e-01 2.18563107e-02 0.00000000e+00 6.83458049e+01] [-2.18563107e-02 9.99761122e-01 0.00000000e+00 -7.53598064e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78381120e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.40, Y:-0.74, Z:0.00 [[ 9.99744991e-01 2.25821368e-02 0.00000000e+00 6.84044198e+01] [-2.25821368e-02 9.99744991e-01 0.00000000e+00 -7.42636187e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90323415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.46, Y:-0.73, Z:-0.00 [[ 9.99854200e-01 1.70756560e-02 0.00000000e+00 6.84631595e+01] [-1.70756560e-02 9.99854200e-01 0.00000000e+00 -7.32618463e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57988773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.73, Z:0.00 [[ 9.99938260e-01 1.11119681e-02 0.00000000e+00 6.85220559e+01] [-1.11119681e-02 9.99938260e-01 0.00000000e+00 -7.30730951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78741646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.58, Y:-0.73, Z:-0.00 [[ 1.00000000e+00 -8.47034234e-06 0.00000000e+00 6.85815633e+01] [ 8.47034234e-06 1.00000000e+00 0.00000000e+00 -7.28230132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.82945934e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.64, Y:-0.72, Z:-0.00 [[ 9.99970020e-01 -7.74330457e-03 0.00000000e+00 6.86424843e+01] [ 7.74330457e-03 9.99970020e-01 0.00000000e+00 -7.23622802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32673774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.70, Y:-0.73, Z:0.00 [[ 9.99867171e-01 -1.62984551e-02 0.00000000e+00 6.87039705e+01] [ 1.62984551e-02 9.99867171e-01 0.00000000e+00 -7.30142486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36640394e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.77, Y:-0.73, Z:-0.00 [[ 9.99785609e-01 -2.07059468e-02 0.00000000e+00 6.87662962e+01] [ 2.07059468e-02 9.99785609e-01 0.00000000e+00 -7.31019848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99848590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:-0.74, Z:-0.00 [[ 9.99669375e-01 -2.57126657e-02 0.00000000e+00 6.88287047e+01] [ 2.57126657e-02 9.99669375e-01 0.00000000e+00 -7.38428403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95260157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:-0.76, Z:-0.00 [[ 9.99395220e-01 -3.47734656e-02 0.00000000e+00 6.88906718e+01] [ 3.47734656e-02 9.99395220e-01 0.00000000e+00 -7.55455645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75168571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.95, Y:-0.76, Z:-0.00 [[ 9.99290208e-01 -3.76706917e-02 0.00000000e+00 6.89529090e+01] [ 3.76706917e-02 9.99290208e-01 0.00000000e+00 -7.59820623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.68885802e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.02, Y:-0.77, Z:-0.00 [[ 9.99262653e-01 -3.83946625e-02 0.00000000e+00 6.90151412e+01] [ 3.83946625e-02 9.99262653e-01 0.00000000e+00 -7.72151320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62896561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.08, Y:-0.79, Z:-0.00 [[ 9.99405268e-01 -3.44834897e-02 0.00000000e+00 6.90772515e+01] [ 3.44834897e-02 9.99405268e-01 0.00000000e+00 -7.86494932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77234677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.80, Z:-0.00 [[ 9.99458546e-01 -3.29031222e-02 0.00000000e+00 6.91390262e+01] [ 3.29031222e-02 9.99458546e-01 0.00000000e+00 -7.96110163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91351065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.20, Y:-0.81, Z:-0.00 [[ 9.99652082e-01 -2.63764033e-02 0.00000000e+00 6.91998879e+01] [ 2.63764033e-02 9.99652082e-01 0.00000000e+00 -8.07489791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33305749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.26, Y:-0.82, Z:-0.00 [[ 9.99841867e-01 -1.77831628e-02 0.00000000e+00 6.92599528e+01] [ 1.77831628e-02 9.99841867e-01 0.00000000e+00 -8.15292296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86504606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:-0.82, Z:-0.00 [[ 9.99981218e-01 -6.12890219e-03 0.00000000e+00 6.93208946e+01] [ 6.12890219e-03 9.99981218e-01 0.00000000e+00 -8.15981988e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41363483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:69.38, Y:-0.82, Z:-0.00 [[ 9.99999764e-01 -6.86425424e-04 0.00000000e+00 6.93816673e+01] [ 6.86425424e-04 9.99999764e-01 0.00000000e+00 -8.15584686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33988275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.44, Y:-0.82, Z:-0.00 [[ 9.99989509e-01 4.58053330e-03 0.00000000e+00 6.94423642e+01] [-4.58053330e-03 9.99989509e-01 0.00000000e+00 -8.19436671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67260772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.50, Y:-0.82, Z:-0.01 [[ 9.99983133e-01 5.80801527e-03 0.00000000e+00 6.95027482e+01] [-5.80801527e-03 9.99983133e-01 0.00000000e+00 -8.20952327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.33648596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.242320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:69.56, Y:-0.82, Z:-0.01 [[ 9.99970732e-01 7.65078893e-03 0.00000000e+00 6.95629229e+01] [-7.65078893e-03 9.99970732e-01 0.00000000e+00 -8.18861615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07404509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.62, Y:-0.81, Z:-0.00 [[ 9.99854915e-01 1.70337347e-02 0.00000000e+00 6.96233457e+01] [-1.70337347e-02 9.99854915e-01 0.00000000e+00 -8.10419345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22495781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.68, Y:-0.81, Z:-0.00 [[ 9.99736394e-01 2.29595695e-02 0.00000000e+00 6.96841951e+01] [-2.29595695e-02 9.99736394e-01 0.00000000e+00 -8.06714993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31910185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.81, Z:-0.01 [[ 9.99648261e-01 2.65208427e-02 0.00000000e+00 6.97441980e+01] [-2.65208427e-02 9.99648261e-01 0.00000000e+00 -8.06162088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52830155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.80, Y:-0.81, Z:-0.01 [[ 9.99705926e-01 2.42499889e-02 0.00000000e+00 6.98048558e+01] [-2.42499889e-02 9.99705926e-01 0.00000000e+00 -8.05529656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29720611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.87, Y:-0.80, Z:-0.01 [[ 9.99728860e-01 2.32853071e-02 0.00000000e+00 6.98656963e+01] [-2.32853071e-02 9.99728860e-01 0.00000000e+00 -8.00322096e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29598119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.93, Y:-0.80, Z:-0.01 [[ 9.99689531e-01 2.49166860e-02 0.00000000e+00 6.99255901e+01] [-2.49166860e-02 9.99689531e-01 0.00000000e+00 -7.95264388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.22660919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.99, Y:-0.78, Z:-0.01 [[ 9.99430046e-01 3.37577051e-02 0.00000000e+00 6.99854013e+01] [-3.37577051e-02 9.99430046e-01 0.00000000e+00 -7.84584924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.76633695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.04, Y:-0.77, Z:-0.01 [[ 9.99366086e-01 3.56009169e-02 0.00000000e+00 7.00447966e+01] [-3.56009169e-02 9.99366086e-01 0.00000000e+00 -7.68073836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57452187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.10, Y:-0.77, Z:-0.01 [[ 9.99486405e-01 3.20456890e-02 0.00000000e+00 7.01039838e+01] [-3.20456890e-02 9.99486405e-01 0.00000000e+00 -7.72057871e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.31117010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.16, Y:-0.77, Z:-0.01 [[ 9.99723527e-01 2.35131646e-02 0.00000000e+00 7.01628847e+01] [-2.35131646e-02 9.99723527e-01 0.00000000e+00 -7.67989749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90654444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.22, Y:-0.76, Z:-0.01 [[ 9.99839809e-01 1.78984904e-02 0.00000000e+00 7.02222316e+01] [-1.78984904e-02 9.99839809e-01 0.00000000e+00 -7.59316615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.25746603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.28, Y:-0.76, Z:-0.01 [[ 9.99928603e-01 1.19494622e-02 0.00000000e+00 7.02820459e+01] [-1.19494622e-02 9.99928603e-01 0.00000000e+00 -7.58714841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.52124639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.34, Y:-0.76, Z:-0.01 [[ 9.99964070e-01 8.47695182e-03 0.00000000e+00 7.03412386e+01] [-8.47695182e-03 9.99964070e-01 0.00000000e+00 -7.60050533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04798673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.40, Y:-0.75, Z:0.01 [[ 9.99990621e-01 4.33115320e-03 0.00000000e+00 7.04008405e+01] [-4.33115320e-03 9.99990621e-01 0.00000000e+00 -7.53301493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47769954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.46, Y:-0.76, Z:-0.01 [[ 9.99999612e-01 -8.81415787e-04 0.00000000e+00 7.04614021e+01] [ 8.81415787e-04 9.99999612e-01 0.00000000e+00 -7.55940526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01939029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:-0.76, Z:-0.01 [[ 9.99987942e-01 -4.91082223e-03 0.00000000e+00 7.05221116e+01] [ 4.91082223e-03 9.99987942e-01 0.00000000e+00 -7.62535393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12649948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:-0.76, Z:-0.01 [[ 9.99987477e-01 -5.00465255e-03 0.00000000e+00 7.05831430e+01] [ 5.00465255e-03 9.99987477e-01 0.00000000e+00 -7.55850411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22346043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:-0.76, Z:-0.01 [[ 9.99992966e-01 -3.75074668e-03 0.00000000e+00 7.06433774e+01] [ 3.75074668e-03 9.99992966e-01 0.00000000e+00 -7.56845193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19420147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:-0.76, Z:-0.01 [[ 9.99999342e-01 -1.14677981e-03 0.00000000e+00 7.07036672e+01] [ 1.14677981e-03 9.99999342e-01 0.00000000e+00 -7.62337854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20632550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:-0.77, Z:-0.01 [[ 9.99999392e-01 1.10288468e-03 0.00000000e+00 7.07641326e+01] [-1.10288468e-03 9.99999392e-01 0.00000000e+00 -7.66715625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.44122239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:-0.76, Z:-0.01 [[ 9.99983726e-01 5.70508814e-03 0.00000000e+00 7.08249506e+01] [-5.70508814e-03 9.99983726e-01 0.00000000e+00 -7.63310277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05138804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.89, Y:-0.76, Z:-0.01 [[ 9.99953322e-01 9.66202681e-03 0.00000000e+00 7.08858658e+01] [-9.66202681e-03 9.99953322e-01 0.00000000e+00 -7.62745480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25786939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.95, Y:-0.77, Z:-0.01 [[ 9.99961294e-01 8.79833497e-03 0.00000000e+00 7.09460351e+01] [-8.79833497e-03 9.99961294e-01 0.00000000e+00 -7.66134206e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.61823402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.01, Y:-0.78, Z:-0.01 [[ 9.99992193e-01 3.95134543e-03 0.00000000e+00 7.10064347e+01] [-3.95134543e-03 9.99992193e-01 0.00000000e+00 -7.76467132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08242761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.07, Y:-0.77, Z:-0.02 [[ 9.99991898e-01 4.02538627e-03 0.00000000e+00 7.10672393e+01] [-4.02538627e-03 9.99991898e-01 0.00000000e+00 -7.74776943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51279172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.13, Y:-0.78, Z:-0.01 [[ 9.99962877e-01 8.61653075e-03 0.00000000e+00 7.11278687e+01] [-8.61653075e-03 9.99962877e-01 0.00000000e+00 -7.83414392e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.23718801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:-0.78, Z:-0.00 [[ 9.99881138e-01 1.54178507e-02 0.00000000e+00 7.11886698e+01] [-1.54178507e-02 9.99881138e-01 0.00000000e+00 -7.83520289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59283128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:-0.78, Z:-0.01 [[ 9.99675705e-01 2.54653504e-02 0.00000000e+00 7.12487801e+01] [-2.54653504e-02 9.99675705e-01 0.00000000e+00 -7.80709302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06851830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.31, Y:-0.78, Z:-0.01 [[ 9.99529548e-01 3.06705471e-02 0.00000000e+00 7.13086702e+01] [-3.06705471e-02 9.99529548e-01 0.00000000e+00 -7.79325768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68453593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.37, Y:-0.78, Z:-0.01 [[ 9.99383004e-01 3.51228143e-02 0.00000000e+00 7.13687521e+01] [-3.51228143e-02 9.99383004e-01 0.00000000e+00 -7.76710250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20086504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.43, Y:-0.77, Z:-0.01 [[ 9.99280365e-01 3.79308736e-02 0.00000000e+00 7.14280277e+01] [-3.79308736e-02 9.99280365e-01 0.00000000e+00 -7.69592432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71945123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.49, Y:-0.76, Z:-0.00 [[ 9.99045891e-01 4.36727298e-02 0.00000000e+00 7.14864601e+01] [-4.36727298e-02 9.99045891e-01 0.00000000e+00 -7.56838503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18335294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:-0.75, Z:-0.01 [[ 9.98950172e-01 4.58099837e-02 0.00000000e+00 7.15445242e+01] [-4.58099837e-02 9.98950172e-01 0.00000000e+00 -7.50005267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08548123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.60, Y:-0.73, Z:-0.01 [[ 9.98867903e-01 4.75700869e-02 0.00000000e+00 7.16028924e+01] [-4.75700869e-02 9.98867903e-01 0.00000000e+00 -7.34921969e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21808984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.66, Y:-0.73, Z:-0.01 [[ 9.98891265e-01 4.70769672e-02 0.00000000e+00 7.16607992e+01] [-4.70769672e-02 9.98891265e-01 0.00000000e+00 -7.27640008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03431367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.72, Y:-0.70, Z:-0.01 [[ 9.98993237e-01 4.48610346e-02 0.00000000e+00 7.17182036e+01] [-4.48610346e-02 9.98993237e-01 0.00000000e+00 -7.04416115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90792436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.70, Z:-0.01 [[ 9.99255172e-01 3.85888727e-02 0.00000000e+00 7.17765094e+01] [-3.85888727e-02 9.99255172e-01 0.00000000e+00 -6.99306544e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26460797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.83, Y:-0.68, Z:-0.01 [[ 9.99671874e-01 2.56153184e-02 0.00000000e+00 7.18349825e+01] [-2.56153184e-02 9.99671874e-01 0.00000000e+00 -6.84824596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79463443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.89, Y:-0.68, Z:-0.01 [[ 9.99870127e-01 1.61161298e-02 0.00000000e+00 7.18935449e+01] [-1.61161298e-02 9.99870127e-01 0.00000000e+00 -6.78335016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10205616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.95, Y:-0.68, Z:-0.01 [[ 9.99999260e-01 1.21629338e-03 0.00000000e+00 7.19527911e+01] [-1.21629338e-03 9.99999260e-01 0.00000000e+00 -6.82722944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01066164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:-0.69, Z:-0.01 [[ 9.99959833e-01 -8.96284523e-03 0.00000000e+00 7.20133078e+01] [ 8.96284523e-03 9.99959833e-01 0.00000000e+00 -6.87172390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13993451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.07, Y:-0.70, Z:-0.01 [[ 9.99716480e-01 -2.38109231e-02 0.00000000e+00 7.20749372e+01] [ 2.38109231e-02 9.99716480e-01 0.00000000e+00 -6.96305673e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37286860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.14, Y:-0.70, Z:-0.01 [[ 9.99638723e-01 -2.68779402e-02 0.00000000e+00 7.21376389e+01] [ 2.68779402e-02 9.99638723e-01 0.00000000e+00 -7.04186332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30389505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.20, Y:-0.72, Z:-0.01 [[ 9.99754636e-01 -2.21510028e-02 0.00000000e+00 7.21999094e+01] [ 2.21510028e-02 9.99754636e-01 0.00000000e+00 -7.16739771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38021244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.26, Y:-0.72, Z:-0.01 [[ 9.99904779e-01 -1.37997747e-02 0.00000000e+00 7.22618858e+01] [ 1.37997747e-02 9.99904779e-01 0.00000000e+00 -7.20399607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29006724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.32, Y:-0.72, Z:-0.01 [[ 9.99996361e-01 2.69788292e-03 0.00000000e+00 7.23227914e+01] [-2.69788292e-03 9.99996361e-01 0.00000000e+00 -7.16837965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24331739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.72, Z:0.00 [[ 9.99940371e-01 1.09203435e-02 0.00000000e+00 7.23834260e+01] [-1.09203435e-02 9.99940371e-01 0.00000000e+00 -7.18526970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31772340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-0.71, Z:-0.01 [[ 9.99644660e-01 2.66562022e-02 0.00000000e+00 7.24433572e+01] [-2.66562022e-02 9.99644660e-01 0.00000000e+00 -7.06019044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24581730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:-0.70, Z:-0.01 [[ 9.99581875e-01 2.89149633e-02 0.00000000e+00 7.25019095e+01] [-2.89149633e-02 9.99581875e-01 0.00000000e+00 -6.99947193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04090123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.56, Y:-0.69, Z:-0.01 [[ 9.99483168e-01 3.21464882e-02 0.00000000e+00 7.25606776e+01] [-3.21464882e-02 9.99483168e-01 0.00000000e+00 -6.92827603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49533846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.62, Y:-0.69, Z:-0.01 [[ 9.99643122e-01 2.67138360e-02 0.00000000e+00 7.26193261e+01] [-2.67138360e-02 9.99643122e-01 0.00000000e+00 -6.91322847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43776125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.68, Y:-0.68, Z:-0.01 [[ 9.99790232e-01 2.04814953e-02 0.00000000e+00 7.26782024e+01] [-2.04814953e-02 9.99790232e-01 0.00000000e+00 -6.82158959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47166428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:72.74, Y:-0.68, Z:-0.02 [[ 9.99783927e-01 2.07870145e-02 0.00000000e+00 7.27366112e+01] [-2.07870145e-02 9.99783927e-01 0.00000000e+00 -6.79222504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60318507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.79, Y:-0.67, Z:-0.01 [[ 9.99830856e-01 1.83918268e-02 0.00000000e+00 7.27949550e+01] [-1.83918268e-02 9.99830856e-01 0.00000000e+00 -6.74589761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36257145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:-0.67, Z:-0.01 [[ 9.99907997e-01 1.35645369e-02 0.00000000e+00 7.28525710e+01] [-1.35645369e-02 9.99907997e-01 0.00000000e+00 -6.71850739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48529605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.91, Y:-0.66, Z:-0.02 [[ 9.99976134e-01 6.90872537e-03 0.00000000e+00 7.29116334e+01] [-6.90872537e-03 9.99976134e-01 0.00000000e+00 -6.64996090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84554293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.97, Y:-0.65, Z:-0.01 [[ 9.99993810e-01 3.51858184e-03 0.00000000e+00 7.29707330e+01] [-3.51858184e-03 9.99993810e-01 0.00000000e+00 -6.53516568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46302462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.03, Y:-0.66, Z:-0.02 [[ 9.99983188e-01 -5.79864654e-03 0.00000000e+00 7.30305156e+01] [ 5.79864654e-03 9.99983188e-01 0.00000000e+00 -6.59651427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81341265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.09, Y:-0.66, Z:-0.02 [[ 9.99937610e-01 -1.11703580e-02 0.00000000e+00 7.30920595e+01] [ 1.11703580e-02 9.99937610e-01 0.00000000e+00 -6.57795770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21139334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.15, Y:-0.64, Z:-0.02 [[ 9.99876880e-01 -1.56915700e-02 0.00000000e+00 7.31546488e+01] [ 1.56915700e-02 9.99876880e-01 0.00000000e+00 -6.43852031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60862682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.22, Y:-0.64, Z:-0.02 [[ 9.99850868e-01 -1.72697040e-02 0.00000000e+00 7.32178837e+01] [ 1.72697040e-02 9.99850868e-01 0.00000000e+00 -6.42653045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56254954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.28, Y:-0.64, Z:-0.02 [[ 9.99716953e-01 -2.37910346e-02 0.00000000e+00 7.32806310e+01] [ 2.37910346e-02 9.99716953e-01 0.00000000e+00 -6.44164989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30993618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.34, Y:-0.65, Z:-0.02 [[ 9.99571007e-01 -2.92882414e-02 0.00000000e+00 7.33439327e+01] [ 2.92882414e-02 9.99571007e-01 0.00000000e+00 -6.45295335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34609066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.64, Z:-0.02 [[ 9.99447576e-01 -3.32346532e-02 0.00000000e+00 7.34064340e+01] [ 3.32346532e-02 9.99447576e-01 0.00000000e+00 -6.39837501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78025506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.47, Y:-0.64, Z:-0.02 [[ 9.99471681e-01 -3.25016602e-02 0.00000000e+00 7.34689974e+01] [ 3.25016602e-02 9.99471681e-01 0.00000000e+00 -6.42567114e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12707226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.53, Y:-0.65, Z:-0.02 [[ 9.99443468e-01 -3.33579802e-02 0.00000000e+00 7.35323375e+01] [ 3.33579802e-02 9.99443468e-01 0.00000000e+00 -6.49449129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30486482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.60, Y:-0.65, Z:-0.02 [[ 9.99419262e-01 -3.40754723e-02 0.00000000e+00 7.35955922e+01] [ 3.40754723e-02 9.99419262e-01 0.00000000e+00 -6.49404229e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14927789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.66, Y:-0.65, Z:-0.02 [[ 9.99432277e-01 -3.36915837e-02 0.00000000e+00 7.36590053e+01] [ 3.36915837e-02 9.99432277e-01 0.00000000e+00 -6.52771976e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87675519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.72, Y:-0.65, Z:-0.02 [[ 9.99536318e-01 -3.04491064e-02 0.00000000e+00 7.37209810e+01] [ 3.04491064e-02 9.99536318e-01 0.00000000e+00 -6.53559718e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31462053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.78, Y:-0.66, Z:-0.03 [[ 9.99589648e-01 -2.86450062e-02 0.00000000e+00 7.37831758e+01] [ 2.86450062e-02 9.99589648e-01 0.00000000e+00 -6.55730062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53699846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.85, Y:-0.66, Z:-0.02 [[ 9.99558412e-01 -2.97150004e-02 0.00000000e+00 7.38460121e+01] [ 2.97150004e-02 9.99558412e-01 0.00000000e+00 -6.59201498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46565859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.91, Y:-0.66, Z:-0.01 [[ 9.99429972e-01 -3.37599054e-02 0.00000000e+00 7.39074235e+01] [ 3.37599054e-02 9.99429972e-01 0.00000000e+00 -6.64871219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57357267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.97, Y:-0.67, Z:-0.02 [[ 9.99473658e-01 -3.24408084e-02 0.00000000e+00 7.39697837e+01] [ 3.24408084e-02 9.99473658e-01 0.00000000e+00 -6.65973274e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48025304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.03, Y:-0.68, Z:-0.03 [[ 9.99484083e-01 -3.21180308e-02 0.00000000e+00 7.40324520e+01] [ 3.21180308e-02 9.99484083e-01 0.00000000e+00 -6.77717101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65236737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.10, Y:-0.68, Z:-0.03 [[ 9.99592965e-01 -2.85289982e-02 0.00000000e+00 7.40952030e+01] [ 2.85289982e-02 9.99592965e-01 0.00000000e+00 -6.81333861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52367723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.16, Y:-0.69, Z:-0.03 [[ 9.99769106e-01 -2.14880158e-02 0.00000000e+00 7.41584959e+01] [ 2.14880158e-02 9.99769106e-01 0.00000000e+00 -6.86154231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61282179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.69, Z:-0.03 [[ 9.99809281e-01 -1.95295183e-02 0.00000000e+00 7.42206676e+01] [ 1.95295183e-02 9.99809281e-01 0.00000000e+00 -6.91097795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64770558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.28, Y:-0.70, Z:-0.03 [[ 9.99885824e-01 -1.51108738e-02 0.00000000e+00 7.42830711e+01] [ 1.51108738e-02 9.99885824e-01 0.00000000e+00 -7.00675850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82647009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.35, Y:-0.70, Z:-0.03 [[ 9.99949901e-01 -1.00098068e-02 0.00000000e+00 7.43450469e+01] [ 1.00098068e-02 9.99949901e-01 0.00000000e+00 -7.01027336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63940313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.41, Y:-0.70, Z:-0.03 [[ 9.99993950e-01 -3.47861662e-03 0.00000000e+00 7.44063121e+01] [ 3.47861662e-03 9.99993950e-01 0.00000000e+00 -6.95610169e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54331461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.47, Y:-0.70, Z:-0.02 [[ 9.99999996e-01 8.79243760e-05 0.00000000e+00 7.44671893e+01] [-8.79243760e-05 9.99999996e-01 0.00000000e+00 -6.99684965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48410766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.53, Y:-0.69, Z:-0.01 [[ 9.99996856e-01 2.50768590e-03 0.00000000e+00 7.45277774e+01] [-2.50768590e-03 9.99996856e-01 0.00000000e+00 -6.91675858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26175040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:-0.69, Z:-0.02 [[ 9.99989564e-01 4.56862009e-03 0.00000000e+00 7.45886017e+01] [-4.56862009e-03 9.99989564e-01 0.00000000e+00 -6.88993348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43750899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.65, Y:-0.68, Z:-0.02 [[ 9.99982350e-01 5.94134246e-03 0.00000000e+00 7.46486552e+01] [-5.94134246e-03 9.99982350e-01 0.00000000e+00 -6.83710532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27036428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.71, Y:-0.68, Z:-0.02 [[ 9.99955905e-01 9.39086386e-03 0.00000000e+00 7.47086671e+01] [-9.39086386e-03 9.99955905e-01 0.00000000e+00 -6.77548092e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27375995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.77, Y:-0.67, Z:-0.02 [[ 9.99982082e-01 5.98623169e-03 0.00000000e+00 7.47687380e+01] [-5.98623169e-03 9.99982082e-01 0.00000000e+00 -6.68433680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04289995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.83, Y:-0.67, Z:-0.02 [[ 9.99998076e-01 1.96155144e-03 0.00000000e+00 7.48282668e+01] [-1.96155144e-03 9.99998076e-01 0.00000000e+00 -6.72973852e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44843168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.89, Y:-0.68, Z:-0.02 [[ 9.99999891e-01 -4.66582162e-04 0.00000000e+00 7.48883681e+01] [ 4.66582162e-04 9.99999891e-01 0.00000000e+00 -6.81119766e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48034081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:-0.67, Z:-0.02 [[ 9.99999931e-01 -3.72344612e-04 0.00000000e+00 7.49492184e+01] [ 3.72344612e-04 9.99999931e-01 0.00000000e+00 -6.74262872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05022091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.01, Y:-0.68, Z:-0.02 [[ 9.99999981e-01 1.92909446e-04 0.00000000e+00 7.50098456e+01] [-1.92909446e-04 9.99999981e-01 0.00000000e+00 -6.82124790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47466082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.07, Y:-0.68, Z:-0.02 [[ 9.99999203e-01 -1.26228859e-03 0.00000000e+00 7.50704966e+01] [ 1.26228859e-03 9.99999203e-01 0.00000000e+00 -6.84143149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27641866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.13, Y:-0.69, Z:-0.02 [[ 9.99962404e-01 -8.67127407e-03 0.00000000e+00 7.51312058e+01] [ 8.67127407e-03 9.99962404e-01 0.00000000e+00 -6.94468201e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32778117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.19, Y:-0.71, Z:-0.03 [[ 9.99887960e-01 -1.49688532e-02 0.00000000e+00 7.51925174e+01] [ 1.49688532e-02 9.99887960e-01 0.00000000e+00 -7.11243798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52222776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.25, Y:-0.71, Z:-0.03 [[ 9.99953927e-01 -9.59917803e-03 0.00000000e+00 7.52546215e+01] [ 9.59917803e-03 9.99953927e-01 0.00000000e+00 -7.14909006e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73759754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.32, Y:-0.71, Z:-0.03 [[ 1.00000000e+00 -8.24279231e-06 0.00000000e+00 7.53159317e+01] [ 8.24279231e-06 1.00000000e+00 0.00000000e+00 -7.14245986e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70333707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.38, Y:-0.72, Z:-0.03 [[ 9.99924434e-01 1.22933698e-02 0.00000000e+00 7.53763389e+01] [-1.22933698e-02 9.99924434e-01 0.00000000e+00 -7.16147527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67662838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.44, Y:-0.72, Z:-0.01 [[ 9.99885268e-01 1.51476599e-02 0.00000000e+00 7.54361479e+01] [-1.51476599e-02 9.99885268e-01 0.00000000e+00 -7.17375589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13525279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:-0.72, Z:-0.03 [[ 9.99836089e-01 1.81051372e-02 0.00000000e+00 7.54947984e+01] [-1.81051372e-02 9.99836089e-01 0.00000000e+00 -7.15968656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83301068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:-0.71, Z:-0.03 [[ 9.99773403e-01 2.12871518e-02 0.00000000e+00 7.55531707e+01] [-2.12871518e-02 9.99773403e-01 0.00000000e+00 -7.12017397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97166049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:-0.71, Z:-0.03 [[ 9.99717347e-01 2.37745010e-02 0.00000000e+00 7.56123917e+01] [-2.37745010e-02 9.99717347e-01 0.00000000e+00 -7.10319995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61400533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.67, Y:-0.70, Z:-0.03 [[ 9.99660055e-01 2.60725001e-02 0.00000000e+00 7.56712959e+01] [-2.60725001e-02 9.99660055e-01 0.00000000e+00 -7.01681798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75736775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.73, Y:-0.70, Z:-0.03 [[ 9.99627382e-01 2.72964600e-02 0.00000000e+00 7.57304983e+01] [-2.72964600e-02 9.99627382e-01 0.00000000e+00 -6.99339690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90416521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.79, Y:-0.69, Z:-0.03 [[ 9.99737097e-01 2.29289662e-02 0.00000000e+00 7.57898161e+01] [-2.29289662e-02 9.99737097e-01 0.00000000e+00 -6.87793014e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60629118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.85, Y:-0.69, Z:-0.03 [[ 9.99897658e-01 1.43063922e-02 0.00000000e+00 7.58483730e+01] [-1.43063922e-02 9.99897658e-01 0.00000000e+00 -6.88947568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62387318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.91, Y:-0.68, Z:-0.03 [[ 9.99990768e-01 4.29689159e-03 0.00000000e+00 7.59069482e+01] [-4.29689159e-03 9.99990768e-01 0.00000000e+00 -6.83636327e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66378090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.97, Y:-0.68, Z:-0.03 [[ 9.99999936e-01 3.58467223e-04 0.00000000e+00 7.59662014e+01] [-3.58467223e-04 9.99999936e-01 0.00000000e+00 -6.83162903e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82089094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.03, Y:-0.69, Z:-0.03 [[ 9.99998126e-01 -1.93599328e-03 0.00000000e+00 7.60268145e+01] [ 1.93599328e-03 9.99998126e-01 0.00000000e+00 -6.88050654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66412453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.09, Y:-0.69, Z:-0.02 [[ 9.99992562e-01 -3.85700603e-03 0.00000000e+00 7.60876119e+01] [ 3.85700603e-03 9.99992562e-01 0.00000000e+00 -6.90579884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45195016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:-0.70, Z:-0.03 [[ 9.99912279e-01 -1.32451450e-02 0.00000000e+00 7.61483187e+01] [ 1.32451450e-02 9.99912279e-01 0.00000000e+00 -6.96260725e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72683423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.21, Y:-0.70, Z:-0.03 [[ 9.99808262e-01 -1.95816128e-02 0.00000000e+00 7.62110273e+01] [ 1.95816128e-02 9.99808262e-01 0.00000000e+00 -7.03983027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76593477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.27, Y:-0.71, Z:-0.03 [[ 9.99677055e-01 -2.54123299e-02 0.00000000e+00 7.62735783e+01] [ 2.54123299e-02 9.99677055e-01 0.00000000e+00 -7.12485989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59649077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.34, Y:-0.72, Z:-0.03 [[ 9.99718720e-01 -2.37166979e-02 0.00000000e+00 7.63368324e+01] [ 2.37166979e-02 9.99718720e-01 0.00000000e+00 -7.22265937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66958897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.40, Y:-0.73, Z:-0.02 [[ 9.99768734e-01 -2.15053292e-02 0.00000000e+00 7.63989398e+01] [ 2.15053292e-02 9.99768734e-01 0.00000000e+00 -7.27423066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44119925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.46, Y:-0.73, Z:-0.03 [[ 9.99812452e-01 -1.93664930e-02 0.00000000e+00 7.64612656e+01] [ 1.93664930e-02 9.99812452e-01 0.00000000e+00 -7.33313880e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69238673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.52, Y:-0.74, Z:-0.03 [[ 9.99800707e-01 -1.99636014e-02 0.00000000e+00 7.65232792e+01] [ 1.99636014e-02 9.99800707e-01 0.00000000e+00 -7.41396819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58146624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.58, Y:-0.75, Z:-0.03 [[ 9.99873351e-01 -1.59148473e-02 0.00000000e+00 7.65849571e+01] [ 1.59148473e-02 9.99873351e-01 0.00000000e+00 -7.54873302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81275605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:-0.76, Z:-0.02 [[ 9.99922996e-01 -1.24097432e-02 0.00000000e+00 7.66462976e+01] [ 1.24097432e-02 9.99922996e-01 0.00000000e+00 -7.62943305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71133291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:-0.77, Z:-0.02 [[ 9.99937723e-01 -1.11601890e-02 0.00000000e+00 7.67080173e+01] [ 1.11601890e-02 9.99937723e-01 0.00000000e+00 -7.68724448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41089951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.77, Y:-0.77, Z:-0.03 [[ 9.99952795e-01 -9.71635979e-03 0.00000000e+00 7.67694475e+01] [ 9.71635979e-03 9.99952795e-01 0.00000000e+00 -7.74390750e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77853659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.83, Y:-0.79, Z:-0.03 [[ 9.99962965e-01 -8.60631852e-03 0.00000000e+00 7.68294492e+01] [ 8.60631852e-03 9.99962965e-01 0.00000000e+00 -7.86690559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13201507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.89, Y:-0.80, Z:-0.03 [[ 9.99972144e-01 -7.46395209e-03 0.00000000e+00 7.68895310e+01] [ 7.46395209e-03 9.99972144e-01 0.00000000e+00 -7.98517742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65224189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.95, Y:-0.80, Z:-0.03 [[ 9.99993887e-01 -3.49656941e-03 0.00000000e+00 7.69504433e+01] [ 3.49656941e-03 9.99993887e-01 0.00000000e+00 -8.02875157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59221296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:-0.81, Z:-0.03 [[ 9.99999994e-01 1.04949189e-04 0.00000000e+00 7.70108593e+01] [-1.04949189e-04 9.99999994e-01 0.00000000e+00 -8.12875597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97847446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.07, Y:-0.82, Z:-0.03 [[ 9.99996762e-01 2.54477172e-03 0.00000000e+00 7.70715614e+01] [-2.54477172e-03 9.99996762e-01 0.00000000e+00 -8.20027961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86927464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.13, Y:-0.83, Z:-0.03 [[ 9.99981468e-01 6.08806289e-03 0.00000000e+00 7.71320067e+01] [-6.08806289e-03 9.99981468e-01 0.00000000e+00 -8.25795265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71772007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:-0.83, Z:-0.03 [[ 9.99949925e-01 1.00073775e-02 0.00000000e+00 7.71929853e+01] [-1.00073775e-02 9.99949925e-01 0.00000000e+00 -8.29648658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88606627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.25, Y:-0.83, Z:-0.03 [[ 9.99805087e-01 1.97430406e-02 0.00000000e+00 7.72534360e+01] [-1.97430406e-02 9.99805087e-01 0.00000000e+00 -8.29287776e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72481510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.31, Y:-0.83, Z:-0.03 [[ 9.99620077e-01 2.75626857e-02 0.00000000e+00 7.73138729e+01] [-2.75626857e-02 9.99620077e-01 0.00000000e+00 -8.27706706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54274256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.37, Y:-0.81, Z:-0.03 [[ 9.99329960e-01 3.66009574e-02 0.00000000e+00 7.73744059e+01] [-3.66009574e-02 9.99329960e-01 0.00000000e+00 -8.12019101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74965008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.44, Y:-0.81, Z:-0.03 [[ 9.99272473e-01 3.81382444e-02 0.00000000e+00 7.74350262e+01] [-3.81382444e-02 9.99272473e-01 0.00000000e+00 -8.10415809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91744300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.50, Y:-0.81, Z:-0.03 [[ 9.99229175e-01 3.92562785e-02 0.00000000e+00 7.74952964e+01] [-3.92562785e-02 9.99229175e-01 0.00000000e+00 -8.13659337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69693633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.56, Y:-0.81, Z:-0.03 [[ 9.99505114e-01 3.14567545e-02 0.00000000e+00 7.75554327e+01] [-3.14567545e-02 9.99505114e-01 0.00000000e+00 -8.11222061e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68324111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.62, Y:-0.81, Z:-0.03 [[ 9.99683150e-01 2.51713983e-02 0.00000000e+00 7.76162461e+01] [-2.51713983e-02 9.99683150e-01 0.00000000e+00 -8.09999151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87482516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:-0.81, Z:-0.02 [[ 9.99754828e-01 2.21423566e-02 0.00000000e+00 7.76768309e+01] [-2.21423566e-02 9.99754828e-01 0.00000000e+00 -8.10042356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48249217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:-0.81, Z:-0.01 [[ 9.99745307e-01 2.25681399e-02 0.00000000e+00 7.77376668e+01] [-2.25681399e-02 9.99745307e-01 0.00000000e+00 -8.06202538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15623256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.80, Y:-0.81, Z:-0.03 [[ 9.99770494e-01 2.14233265e-02 0.00000000e+00 7.77983003e+01] [-2.14233265e-02 9.99770494e-01 0.00000000e+00 -8.11130678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54244964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.86, Y:-0.82, Z:-0.02 [[ 9.99865126e-01 1.64234655e-02 0.00000000e+00 7.78590700e+01] [-1.64234655e-02 9.99865126e-01 0.00000000e+00 -8.16695038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45686439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.92, Y:-0.81, Z:-0.02 [[ 9.99925578e-01 1.21999252e-02 0.00000000e+00 7.79197578e+01] [-1.21999252e-02 9.99925578e-01 0.00000000e+00 -8.13679380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49172748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.98, Y:-0.82, Z:-0.02 [[ 9.99979052e-01 6.47266454e-03 0.00000000e+00 7.79802538e+01] [-6.47266454e-03 9.99979052e-01 0.00000000e+00 -8.16693219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48317844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:-0.82, Z:-0.00 [[ 9.99991818e-01 4.04511801e-03 0.00000000e+00 7.80414757e+01] [-4.04511801e-03 9.99991818e-01 0.00000000e+00 -8.19175380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40529585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:78.10, Y:-0.82, Z:-0.00 [[ 9.99982026e-01 5.99569827e-03 0.00000000e+00 7.81016955e+01] [-5.99569827e-03 9.99982026e-01 0.00000000e+00 -8.17499872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.83857489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.16, Y:-0.82, Z:-0.02 [[ 9.99957817e-01 9.18504700e-03 0.00000000e+00 7.81620467e+01] [-9.18504700e-03 9.99957817e-01 0.00000000e+00 -8.21026439e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48789824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.22, Y:-0.82, Z:-0.03 [[ 9.99978450e-01 6.56506856e-03 0.00000000e+00 7.82222902e+01] [-6.56506856e-03 9.99978450e-01 0.00000000e+00 -8.24047116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50782583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.28, Y:-0.82, Z:-0.02 [[ 9.99988083e-01 4.88192674e-03 0.00000000e+00 7.82823882e+01] [-4.88192674e-03 9.99988083e-01 0.00000000e+00 -8.22357531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40921230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.34, Y:-0.83, Z:-0.02 [[ 9.99985221e-01 5.43675310e-03 0.00000000e+00 7.83429569e+01] [-5.43675310e-03 9.99985221e-01 0.00000000e+00 -8.28809625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13822097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.40, Y:-0.83, Z:-0.02 [[ 9.99984811e-01 5.51165337e-03 0.00000000e+00 7.84034592e+01] [-5.51165337e-03 9.99984811e-01 0.00000000e+00 -8.33023164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28312575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:-0.83, Z:-0.02 [[ 9.99969857e-01 7.76434483e-03 0.00000000e+00 7.84635391e+01] [-7.76434483e-03 9.99969857e-01 0.00000000e+00 -8.34763608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45025844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:-0.83, Z:-0.02 [[ 9.99922378e-01 1.24594215e-02 0.00000000e+00 7.85241236e+01] [-1.24594215e-02 9.99922378e-01 0.00000000e+00 -8.26123732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17003479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.58, Y:-0.83, Z:-0.02 [[ 9.99885437e-01 1.51364532e-02 0.00000000e+00 7.85843086e+01] [-1.51364532e-02 9.99885437e-01 0.00000000e+00 -8.25706921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84294360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:-0.82, Z:-0.02 [[ 9.99793513e-01 2.03207111e-02 0.00000000e+00 7.86452252e+01] [-2.03207111e-02 9.99793513e-01 0.00000000e+00 -8.19824665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02296058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:-0.81, Z:-0.02 [[ 9.99763335e-01 2.17548684e-02 0.00000000e+00 7.87054360e+01] [-2.17548684e-02 9.99763335e-01 0.00000000e+00 -8.10210484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40663259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.77, Y:-0.81, Z:-0.02 [[ 9.99783567e-01 2.08043297e-02 0.00000000e+00 7.87656565e+01] [-2.08043297e-02 9.99783567e-01 0.00000000e+00 -8.05802068e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30651379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.83, Y:-0.80, Z:-0.02 [[ 9.99856495e-01 1.69407693e-02 0.00000000e+00 7.88265873e+01] [-1.69407693e-02 9.99856495e-01 0.00000000e+00 -7.99264024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85017038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.89, Y:-0.80, Z:-0.02 [[ 9.99943996e-01 1.05832603e-02 0.00000000e+00 7.88867030e+01] [-1.05832603e-02 9.99943996e-01 0.00000000e+00 -7.99677821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02189970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.95, Y:-0.79, Z:-0.01 [[ 9.99984276e-01 5.60785137e-03 0.00000000e+00 7.89467820e+01] [-5.60785137e-03 9.99984276e-01 0.00000000e+00 -7.94215593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.79876052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.01, Y:-0.80, Z:-0.02 [[ 9.99996047e-01 -2.81161698e-03 0.00000000e+00 7.90071084e+01] [ 2.81161698e-03 9.99996047e-01 0.00000000e+00 -7.96493774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22277873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:-0.80, Z:-0.02 [[ 9.99922088e-01 -1.24826925e-02 0.00000000e+00 7.90676039e+01] [ 1.24826925e-02 9.99922088e-01 0.00000000e+00 -7.98329913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97997792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:-0.80, Z:-0.02 [[ 9.99859948e-01 -1.67357353e-02 0.00000000e+00 7.91283876e+01] [ 1.67357353e-02 9.99859948e-01 0.00000000e+00 -8.01402960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04485930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:-0.81, Z:-0.03 [[ 9.99818930e-01 -1.90291282e-02 0.00000000e+00 7.91889826e+01] [ 1.90291282e-02 9.99818930e-01 0.00000000e+00 -8.06285975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53909665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:-0.81, Z:-0.03 [[ 9.99734231e-01 -2.30535741e-02 0.00000000e+00 7.92496738e+01] [ 2.30535741e-02 9.99734231e-01 0.00000000e+00 -8.13718580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64880236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.31, Y:-0.82, Z:-0.03 [[ 9.99692510e-01 -2.47968901e-02 0.00000000e+00 7.93103620e+01] [ 2.47968901e-02 9.99692510e-01 0.00000000e+00 -8.19700994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54761373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.37, Y:-0.83, Z:-0.02 [[ 9.99685334e-01 -2.50845157e-02 0.00000000e+00 7.93704985e+01] [ 2.50845157e-02 9.99685334e-01 0.00000000e+00 -8.31596322e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22882118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.43, Y:-0.84, Z:-0.02 [[ 9.99824989e-01 -1.87080401e-02 0.00000000e+00 7.94307900e+01] [ 1.87080401e-02 9.99824989e-01 0.00000000e+00 -8.39666098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12470325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.49, Y:-0.85, Z:-0.03 [[ 9.99960011e-01 -8.94294279e-03 0.00000000e+00 7.94909227e+01] [ 8.94294279e-03 9.99960011e-01 0.00000000e+00 -8.53320236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61206184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.55, Y:-0.86, Z:-0.02 [[ 9.99995635e-01 2.95467849e-03 0.00000000e+00 7.95512295e+01] [-2.95467849e-03 9.99995635e-01 0.00000000e+00 -8.58409018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45178876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.61, Y:-0.85, Z:-0.02 [[ 9.99844079e-01 1.76583524e-02 0.00000000e+00 7.96120973e+01] [-1.76583524e-02 9.99844079e-01 0.00000000e+00 -8.52649975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32018887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.67, Y:-0.84, Z:-0.02 [[ 9.99219958e-01 3.94901991e-02 0.00000000e+00 7.96723549e+01] [-3.94901991e-02 9.99219958e-01 0.00000000e+00 -8.41702913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49659314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.73, Y:-0.84, Z:-0.02 [[ 9.98616166e-01 5.25904362e-02 0.00000000e+00 7.97324053e+01] [-5.25904362e-02 9.98616166e-01 0.00000000e+00 -8.36168357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49102691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.79, Y:-0.81, Z:-0.03 [[ 9.97924620e-01 6.43929492e-02 0.00000000e+00 7.97919615e+01] [-6.43929492e-02 9.97924620e-01 0.00000000e+00 -8.14513371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76219509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.85, Y:-0.80, Z:-0.03 [[ 9.97984640e-01 6.34559599e-02 0.00000000e+00 7.98512878e+01] [-6.34559599e-02 9.97984640e-01 0.00000000e+00 -7.98196351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55597658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.91, Y:-0.79, Z:-0.02 [[ 9.98422038e-01 5.61554534e-02 0.00000000e+00 7.99098402e+01] [-5.61554534e-02 9.98422038e-01 0.00000000e+00 -7.85618286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08915374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.97, Y:-0.77, Z:-0.02 [[ 9.98549955e-01 5.38329574e-02 0.00000000e+00 7.99690958e+01] [-5.38329574e-02 9.98549955e-01 0.00000000e+00 -7.72395320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07269622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.03, Y:-0.74, Z:-0.02 [[ 9.98899610e-01 4.68995749e-02 0.00000000e+00 8.00277785e+01] [-4.68995749e-02 9.98899610e-01 0.00000000e+00 -7.43634016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37674046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.09, Y:-0.74, Z:-0.02 [[ 9.99216219e-01 3.95846777e-02 0.00000000e+00 8.00862166e+01] [-3.95846777e-02 9.99216219e-01 0.00000000e+00 -7.36353719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07083902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.14, Y:-0.73, Z:-0.01 [[ 9.99617402e-01 2.76595360e-02 0.00000000e+00 8.01438176e+01] [-2.76595360e-02 9.99617402e-01 0.00000000e+00 -7.33162981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55587018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.20, Y:-0.72, Z:-0.02 [[ 9.99919721e-01 1.26709037e-02 0.00000000e+00 8.02031654e+01] [-1.26709037e-02 9.99919721e-01 0.00000000e+00 -7.24238530e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43645321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.26, Y:-0.72, Z:-0.03 [[ 9.99999918e-01 4.04711296e-04 0.00000000e+00 8.02631783e+01] [-4.04711296e-04 9.99999918e-01 0.00000000e+00 -7.22874575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50774366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:-0.73, Z:-0.02 [[ 9.99978102e-01 -6.61775914e-03 0.00000000e+00 8.03241125e+01] [ 6.61775914e-03 9.99978102e-01 0.00000000e+00 -7.31460265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29979837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.39, Y:-0.73, Z:-0.02 [[ 9.99908162e-01 -1.35523911e-02 0.00000000e+00 8.03857086e+01] [ 1.35523911e-02 9.99908162e-01 0.00000000e+00 -7.33990255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99712863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.45, Y:-0.74, Z:-0.02 [[ 9.99836197e-01 -1.80991488e-02 0.00000000e+00 8.04467910e+01] [ 1.80991488e-02 9.99836197e-01 0.00000000e+00 -7.36717618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41614011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.51, Y:-0.74, Z:-0.03 [[ 9.99870231e-01 -1.61096840e-02 0.00000000e+00 8.05094190e+01] [ 1.61096840e-02 9.99870231e-01 0.00000000e+00 -7.43907352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51414822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:-0.75, Z:-0.02 [[ 9.99891004e-01 -1.47641619e-02 0.00000000e+00 8.05711599e+01] [ 1.47641619e-02 9.99891004e-01 0.00000000e+00 -7.45624415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27407690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.63, Y:-0.75, Z:-0.02 [[ 9.99886076e-01 -1.50942104e-02 0.00000000e+00 8.06329436e+01] [ 1.50942104e-02 9.99886076e-01 0.00000000e+00 -7.49899893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30210627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:-0.76, Z:-0.02 [[ 9.99912633e-01 -1.32184011e-02 0.00000000e+00 8.06940293e+01] [ 1.32184011e-02 9.99912633e-01 0.00000000e+00 -7.55808280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18969143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.76, Y:-0.75, Z:-0.02 [[ 9.99997158e-01 -2.38426745e-03 0.00000000e+00 8.07554291e+01] [ 2.38426745e-03 9.99997158e-01 0.00000000e+00 -7.53069441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28497152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.82, Y:-0.75, Z:-0.03 [[ 9.99988813e-01 4.73008249e-03 0.00000000e+00 8.08158052e+01] [-4.73008249e-03 9.99988813e-01 0.00000000e+00 -7.52878536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58211780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.88, Y:-0.76, Z:-0.02 [[ 9.99882278e-01 1.53437208e-02 0.00000000e+00 8.08765019e+01] [-1.53437208e-02 9.99882278e-01 0.00000000e+00 -7.58542732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11116062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.94, Y:-0.76, Z:-0.02 [[ 9.99810413e-01 1.94714901e-02 0.00000000e+00 8.09363630e+01] [-1.94714901e-02 9.99810413e-01 0.00000000e+00 -7.57057023e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12887223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.00, Y:-0.75, Z:-0.02 [[ 9.99753756e-01 2.21907227e-02 0.00000000e+00 8.09959713e+01] [-2.21907227e-02 9.99753756e-01 0.00000000e+00 -7.49852226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08392009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.05, Y:-0.75, Z:-0.02 [[ 9.99663407e-01 2.59436566e-02 0.00000000e+00 8.10548076e+01] [-2.59436566e-02 9.99663407e-01 0.00000000e+00 -7.47122297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02012325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:-0.74, Z:-0.02 [[ 9.99514047e-01 3.11716092e-02 0.00000000e+00 8.11135605e+01] [-3.11716092e-02 9.99514047e-01 0.00000000e+00 -7.41223178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28346778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.17, Y:-0.74, Z:-0.02 [[ 9.99489906e-01 3.19363160e-02 0.00000000e+00 8.11722686e+01] [-3.19363160e-02 9.99489906e-01 0.00000000e+00 -7.37684351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32200418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.23, Y:-0.74, Z:-0.02 [[ 9.99544673e-01 3.01736139e-02 0.00000000e+00 8.12307334e+01] [-3.01736139e-02 9.99544673e-01 0.00000000e+00 -7.35906591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16032221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.29, Y:-0.73, Z:-0.02 [[ 9.99645403e-01 2.66283373e-02 0.00000000e+00 8.12882452e+01] [-2.66283373e-02 9.99645403e-01 0.00000000e+00 -7.28681602e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21940066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.35, Y:-0.73, Z:-0.02 [[ 9.99703787e-01 2.43379853e-02 0.00000000e+00 8.13468129e+01] [-2.43379853e-02 9.99703787e-01 0.00000000e+00 -7.28161935e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11417597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.41, Y:-0.72, Z:-0.02 [[ 9.99715293e-01 2.38606912e-02 0.00000000e+00 8.14056875e+01] [-2.38606912e-02 9.99715293e-01 0.00000000e+00 -7.23685333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29068893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.46, Y:-0.72, Z:-0.02 [[ 9.99701717e-01 2.44228669e-02 0.00000000e+00 8.14640675e+01] [-2.44228669e-02 9.99701717e-01 0.00000000e+00 -7.24877090e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43196066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.52, Y:-0.72, Z:-0.02 [[ 9.99734665e-01 2.30347324e-02 0.00000000e+00 8.15230493e+01] [-2.30347324e-02 9.99734665e-01 0.00000000e+00 -7.19685942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31976449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.58, Y:-0.72, Z:-0.02 [[ 9.99787014e-01 2.06379834e-02 0.00000000e+00 8.15820272e+01] [-2.06379834e-02 9.99787014e-01 0.00000000e+00 -7.18691479e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42920162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.64, Y:-0.72, Z:-0.02 [[ 9.99895107e-01 1.44836375e-02 0.00000000e+00 8.16409703e+01] [-1.44836375e-02 9.99895107e-01 0.00000000e+00 -7.18111473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45966194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.70, Y:-0.72, Z:-0.03 [[ 9.99915501e-01 1.29996558e-02 0.00000000e+00 8.16994678e+01] [-1.29996558e-02 9.99915501e-01 0.00000000e+00 -7.17989997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58440191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.76, Y:-0.71, Z:-0.02 [[ 9.99920250e-01 1.26290822e-02 0.00000000e+00 8.17579945e+01] [-1.26290822e-02 9.99920250e-01 0.00000000e+00 -7.07093701e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34068873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.82, Y:-0.70, Z:-0.03 [[ 9.99937881e-01 1.11460124e-02 0.00000000e+00 8.18163348e+01] [-1.11460124e-02 9.99937881e-01 0.00000000e+00 -7.03754161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54055825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.88, Y:-0.70, Z:-0.03 [[ 9.99974947e-01 7.07856820e-03 0.00000000e+00 8.18762935e+01] [-7.07856820e-03 9.99974947e-01 0.00000000e+00 -7.02853424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61105487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.94, Y:-0.70, Z:-0.03 [[ 9.99996997e-01 -2.45079478e-03 0.00000000e+00 8.19360478e+01] [ 2.45079478e-03 9.99996997e-01 0.00000000e+00 -7.03485680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62546101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.00, Y:-0.69, Z:-0.03 [[ 9.99978014e-01 -6.63116754e-03 0.00000000e+00 8.19962246e+01] [ 6.63116754e-03 9.99978014e-01 0.00000000e+00 -6.94620021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79665119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.06, Y:-0.70, Z:-0.03 [[ 9.99966723e-01 -8.15802448e-03 0.00000000e+00 8.20571987e+01] [ 8.15802448e-03 9.99966723e-01 0.00000000e+00 -7.01265143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98421957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.12, Y:-0.70, Z:-0.03 [[ 9.99979237e-01 -6.44395711e-03 0.00000000e+00 8.21185821e+01] [ 6.44395711e-03 9.99979237e-01 0.00000000e+00 -7.02686573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82346210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.18, Y:-0.70, Z:-0.03 [[ 9.99993767e-01 -3.53075753e-03 0.00000000e+00 8.21794831e+01] [ 3.53075753e-03 9.99993767e-01 0.00000000e+00 -6.95397823e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75779370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.24, Y:-0.70, Z:-0.03 [[ 9.99999450e-01 -1.04918970e-03 0.00000000e+00 8.22396367e+01] [ 1.04918970e-03 9.99999450e-01 0.00000000e+00 -6.96583585e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95900784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.30, Y:-0.69, Z:-0.03 [[ 9.99998365e-01 1.80814370e-03 0.00000000e+00 8.22999276e+01] [-1.80814370e-03 9.99998365e-01 0.00000000e+00 -6.92751909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12599868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.36, Y:-0.69, Z:-0.03 [[ 9.99998925e-01 1.46599025e-03 0.00000000e+00 8.23604449e+01] [-1.46599025e-03 9.99998925e-01 0.00000000e+00 -6.89446251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50941864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.42, Y:-0.69, Z:-0.02 [[ 9.99998167e-01 -1.91474104e-03 0.00000000e+00 8.24205415e+01] [ 1.91474104e-03 9.99998167e-01 0.00000000e+00 -6.90023209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41123931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.48, Y:-0.69, Z:-0.03 [[ 9.99991303e-01 -4.17056022e-03 0.00000000e+00 8.24805517e+01] [ 4.17056022e-03 9.99991303e-01 0.00000000e+00 -6.88114915e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80437006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.54, Y:-0.68, Z:-0.03 [[ 9.99984831e-01 -5.50788555e-03 0.00000000e+00 8.25413873e+01] [ 5.50788555e-03 9.99984831e-01 0.00000000e+00 -6.81921403e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68061799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.60, Y:-0.68, Z:-0.03 [[ 9.99973585e-01 -7.26840217e-03 0.00000000e+00 8.26030916e+01] [ 7.26840217e-03 9.99973585e-01 0.00000000e+00 -6.84171173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64847676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.66, Y:-0.68, Z:-0.03 [[ 9.99974509e-01 -7.14015083e-03 0.00000000e+00 8.26643547e+01] [ 7.14015083e-03 9.99974509e-01 0.00000000e+00 -6.83336874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60432456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.73, Y:-0.67, Z:-0.03 [[ 9.99995440e-01 -3.01977252e-03 0.00000000e+00 8.27253917e+01] [ 3.01977252e-03 9.99995440e-01 0.00000000e+00 -6.74674202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62852011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.79, Y:-0.67, Z:-0.03 [[ 9.99997013e-01 2.44428345e-03 0.00000000e+00 8.27861263e+01] [-2.44428345e-03 9.99997013e-01 0.00000000e+00 -6.69630324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53079139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.85, Y:-0.67, Z:-0.03 [[ 9.99981990e-01 6.00158453e-03 0.00000000e+00 8.28466852e+01] [-6.00158453e-03 9.99981990e-01 0.00000000e+00 -6.67768008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60522528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.91, Y:-0.66, Z:-0.02 [[ 9.99985797e-01 5.32969600e-03 0.00000000e+00 8.29065555e+01] [-5.32969600e-03 9.99985797e-01 0.00000000e+00 -6.62641315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39564476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:82.97, Y:-0.66, Z:-0.01 [[ 9.99994453e-01 3.33082596e-03 0.00000000e+00 8.29663268e+01] [-3.33082596e-03 9.99994453e-01 0.00000000e+00 -6.59587838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67382986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.03, Y:-0.67, Z:-0.03 [[ 9.99998174e-01 -1.91107772e-03 0.00000000e+00 8.30265129e+01] [ 1.91107772e-03 9.99998174e-01 0.00000000e+00 -6.65034129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96727674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.09, Y:-0.67, Z:-0.03 [[ 9.99998094e-01 -1.95223312e-03 0.00000000e+00 8.30873727e+01] [ 1.95223312e-03 9.99998094e-01 0.00000000e+00 -6.68190739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79829918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.15, Y:-0.67, Z:-0.01 [[ 9.99998521e-01 -1.71990437e-03 0.00000000e+00 8.31478379e+01] [ 1.71990437e-03 9.99998521e-01 0.00000000e+00 -6.65724024e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32964504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.21, Y:-0.66, Z:-0.02 [[ 9.99999968e-01 2.51922695e-04 0.00000000e+00 8.32077992e+01] [-2.51922695e-04 9.99999968e-01 0.00000000e+00 -6.61183890e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31938291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.27, Y:-0.66, Z:-0.03 [[ 9.99998869e-01 1.50371846e-03 0.00000000e+00 8.32678778e+01] [-1.50371846e-03 9.99998869e-01 0.00000000e+00 -6.61939634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16320017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.33, Y:-0.66, Z:-0.03 [[ 9.99998044e-01 1.97767955e-03 0.00000000e+00 8.33283561e+01] [-1.97767955e-03 9.99998044e-01 0.00000000e+00 -6.61258356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87074756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98232058800001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.39, Y:-0.65, Z:-0.02 [[ 9.99999470e-01 1.02956494e-03 0.00000000e+00 8.33886650e+01] [-1.02956494e-03 9.99999470e-01 0.00000000e+00 -6.50525292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28302427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.45, Y:-0.65, Z:-0.03 [[ 9.99999243e-01 1.23084519e-03 0.00000000e+00 8.34491612e+01] [-1.23084519e-03 9.99999243e-01 0.00000000e+00 -6.46106174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50856150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.51, Y:-0.64, Z:-0.03 [[ 9.99996722e-01 -2.56044173e-03 0.00000000e+00 8.35099275e+01] [ 2.56044173e-03 9.99996722e-01 0.00000000e+00 -6.42129424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73562573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.57, Y:-0.64, Z:-0.03 [[ 9.99967887e-01 -8.01406635e-03 0.00000000e+00 8.35708327e+01] [ 8.01406635e-03 9.99967887e-01 0.00000000e+00 -6.36073320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84117803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.63, Y:-0.64, Z:-0.03 [[ 9.99936726e-01 -1.12491950e-02 0.00000000e+00 8.36325980e+01] [ 1.12491950e-02 9.99936726e-01 0.00000000e+00 -6.37063279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56357437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.70, Y:-0.64, Z:-0.02 [[ 9.99920682e-01 -1.25948328e-02 0.00000000e+00 8.36950809e+01] [ 1.25948328e-02 9.99920682e-01 0.00000000e+00 -6.35921347e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46665998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.76, Y:-0.64, Z:-0.01 [[ 9.99827585e-01 -1.85687816e-02 0.00000000e+00 8.37574912e+01] [ 1.85687816e-02 9.99827585e-01 0.00000000e+00 -6.43333318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15496149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.82, Y:-0.65, Z:-0.03 [[ 9.99695742e-01 -2.46662276e-02 0.00000000e+00 8.38193178e+01] [ 2.46662276e-02 9.99695742e-01 0.00000000e+00 -6.47144139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67278755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.88, Y:-0.66, Z:-0.03 [[ 9.99517198e-01 -3.10704174e-02 0.00000000e+00 8.38820043e+01] [ 3.10704174e-02 9.99517198e-01 0.00000000e+00 -6.55425387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50673809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.94, Y:-0.67, Z:-0.03 [[ 9.99411734e-01 -3.42955709e-02 0.00000000e+00 8.39441877e+01] [ 3.42955709e-02 9.99411734e-01 0.00000000e+00 -6.69513060e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66213048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.01, Y:-0.68, Z:-0.03 [[ 9.99411880e-01 -3.42913155e-02 0.00000000e+00 8.40072580e+01] [ 3.42913155e-02 9.99411880e-01 0.00000000e+00 -6.81360996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74867656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.07, Y:-0.69, Z:-0.03 [[ 9.99444213e-01 -3.33356552e-02 0.00000000e+00 8.40691039e+01] [ 3.33356552e-02 9.99444213e-01 0.00000000e+00 -6.91726990e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56514702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.13, Y:-0.70, Z:-0.03 [[ 9.99637236e-01 -2.69331705e-02 0.00000000e+00 8.41310891e+01] [ 2.69331705e-02 9.99637236e-01 0.00000000e+00 -7.03867199e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55515731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.19, Y:-0.72, Z:-0.03 [[ 9.99815788e-01 -1.91934788e-02 0.00000000e+00 8.41930584e+01] [ 1.91934788e-02 9.99815788e-01 0.00000000e+00 -7.17486636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74321222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.26, Y:-0.73, Z:-0.03 [[ 9.99910840e-01 -1.33533714e-02 0.00000000e+00 8.42553217e+01] [ 1.33533714e-02 9.99910840e-01 0.00000000e+00 -7.25077989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81099872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.32, Y:-0.73, Z:-0.03 [[ 9.99972441e-01 -7.42414360e-03 0.00000000e+00 8.43166181e+01] [ 7.42414360e-03 9.99972441e-01 0.00000000e+00 -7.31160824e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66794243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.38, Y:-0.73, Z:-0.02 [[ 9.99983858e-01 5.68188378e-03 0.00000000e+00 8.43780303e+01] [-5.68188378e-03 9.99983858e-01 0.00000000e+00 -7.29116443e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44670415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.44, Y:-0.73, Z:-0.02 [[ 9.99882419e-01 1.53345223e-02 0.00000000e+00 8.44384486e+01] [-1.53345223e-02 9.99882419e-01 0.00000000e+00 -7.29885461e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46051985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.50, Y:-0.73, Z:-0.02 [[ 9.99706174e-01 2.42397592e-02 0.00000000e+00 8.44978730e+01] [-2.42397592e-02 9.99706174e-01 0.00000000e+00 -7.27823375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33581102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.56, Y:-0.73, Z:-0.02 [[ 9.99728486e-01 2.33013960e-02 0.00000000e+00 8.45570113e+01] [-2.33013960e-02 9.99728486e-01 0.00000000e+00 -7.25572474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43609529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.62, Y:-0.73, Z:-0.02 [[ 9.99852189e-01 1.71930233e-02 0.00000000e+00 8.46161729e+01] [-1.71930233e-02 9.99852189e-01 0.00000000e+00 -7.30458410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45621351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.68, Y:-0.73, Z:-0.01 [[ 9.99888374e-01 1.49411827e-02 0.00000000e+00 8.46752878e+01] [-1.49411827e-02 9.99888374e-01 0.00000000e+00 -7.26475865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24736880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.74, Y:-0.73, Z:-0.02 [[ 9.99890274e-01 1.48135102e-02 0.00000000e+00 8.47350236e+01] [-1.48135102e-02 9.99890274e-01 0.00000000e+00 -7.28457875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17668770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:-0.73, Z:-0.03 [[ 9.99914216e-01 1.30981477e-02 0.00000000e+00 8.47942894e+01] [-1.30981477e-02 9.99914216e-01 0.00000000e+00 -7.28275721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56649117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:-0.73, Z:-0.03 [[ 9.99939609e-01 1.09898989e-02 0.00000000e+00 8.48544301e+01] [-1.09898989e-02 9.99939609e-01 0.00000000e+00 -7.25809107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52582036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:-0.72, Z:-0.02 [[ 9.99959596e-01 8.98924103e-03 0.00000000e+00 8.49145630e+01] [-8.98924103e-03 9.99959596e-01 0.00000000e+00 -7.22366390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91890100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:-0.72, Z:-0.02 [[ 9.99953307e-01 9.66356684e-03 0.00000000e+00 8.49738361e+01] [-9.66356684e-03 9.99953307e-01 0.00000000e+00 -7.15790641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49394513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.03, Y:-0.71, Z:-0.03 [[ 9.99968275e-01 7.96547920e-03 0.00000000e+00 8.50332911e+01] [-7.96547920e-03 9.99968275e-01 0.00000000e+00 -7.09741549e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50406067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.09, Y:-0.71, Z:-0.02 [[ 9.99980370e-01 6.26576267e-03 0.00000000e+00 8.50932311e+01] [-6.26576267e-03 9.99980370e-01 0.00000000e+00 -7.06552965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40852801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:-0.71, Z:-0.02 [[ 9.99996923e-01 -2.48070241e-03 0.00000000e+00 8.51533077e+01] [ 2.48070241e-03 9.99996923e-01 0.00000000e+00 -7.11141958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31431341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:-0.71, Z:-0.02 [[ 9.99973174e-01 -7.32469903e-03 0.00000000e+00 8.52133876e+01] [ 7.32469903e-03 9.99973174e-01 0.00000000e+00 -7.09381210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38733072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.28, Y:-0.70, Z:-0.02 [[ 9.99937088e-01 -1.12169843e-02 0.00000000e+00 8.52751123e+01] [ 1.12169843e-02 9.99937088e-01 0.00000000e+00 -7.02515886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35931389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.34, Y:-0.71, Z:-0.02 [[ 9.99890837e-01 -1.47754262e-02 0.00000000e+00 8.53367111e+01] [ 1.47754262e-02 9.99890837e-01 0.00000000e+00 -7.05589926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34231709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.40, Y:-0.72, Z:-0.03 [[ 9.99644888e-01 -2.66476487e-02 0.00000000e+00 8.53993407e+01] [ 2.66476487e-02 9.99644888e-01 0.00000000e+00 -7.17001354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53976927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.46, Y:-0.72, Z:-0.02 [[ 9.99446027e-01 -3.32812029e-02 0.00000000e+00 8.54613820e+01] [ 3.32812029e-02 9.99446027e-01 0.00000000e+00 -7.24174307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32702284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:-0.73, Z:-0.02 [[ 9.99408816e-01 -3.43804857e-02 0.00000000e+00 8.55238179e+01] [ 3.43804857e-02 9.99408816e-01 0.00000000e+00 -7.26158706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25394202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:-0.73, Z:-0.02 [[ 9.99590250e-01 -2.86239861e-02 0.00000000e+00 8.55869534e+01] [ 2.86239861e-02 9.99590250e-01 0.00000000e+00 -7.32348216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42497677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.65, Y:-0.74, Z:-0.01 [[ 9.99681575e-01 -2.52338745e-02 0.00000000e+00 8.56488734e+01] [ 2.52338745e-02 9.99681575e-01 0.00000000e+00 -7.39949830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46177180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.71, Y:-0.74, Z:-0.02 [[ 9.99811781e-01 -1.94010789e-02 0.00000000e+00 8.57106403e+01] [ 1.94010789e-02 9.99811781e-01 0.00000000e+00 -7.40923720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29718943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.77, Y:-0.74, Z:-0.03 [[ 9.99884755e-01 -1.51814305e-02 0.00000000e+00 8.57723556e+01] [ 1.51814305e-02 9.99884755e-01 0.00000000e+00 -7.39698963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52932272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.83, Y:-0.75, Z:-0.01 [[ 9.99989439e-01 -4.59590384e-03 0.00000000e+00 8.58327640e+01] [ 4.59590384e-03 9.99989439e-01 0.00000000e+00 -7.49154248e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.21821359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:-0.75, Z:-0.02 [[ 9.99995154e-01 -3.11309779e-03 0.00000000e+00 8.58928979e+01] [ 3.11309779e-03 9.99995154e-01 0.00000000e+00 -7.53241006e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23061100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.95, Y:-0.75, Z:-0.03 [[ 9.99999703e-01 -7.70534960e-04 0.00000000e+00 8.59537494e+01] [ 7.70534960e-04 9.99999703e-01 0.00000000e+00 -7.50630539e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60457190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.01, Y:-0.76, Z:-0.02 [[ 9.99987013e-01 5.09636424e-03 0.00000000e+00 8.60139302e+01] [-5.09636424e-03 9.99987013e-01 0.00000000e+00 -7.55278328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13197606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.07, Y:-0.76, Z:-0.02 [[ 9.99952316e-01 9.76548829e-03 0.00000000e+00 8.60744809e+01] [-9.76548829e-03 9.99952316e-01 0.00000000e+00 -7.60937528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01498595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:-0.76, Z:-0.00 [[ 9.99937724e-01 1.11601230e-02 0.00000000e+00 8.61340667e+01] [-1.11601230e-02 9.99937724e-01 0.00000000e+00 -7.58686076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13823147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:-0.76, Z:-0.02 [[ 9.99898502e-01 1.42473002e-02 0.00000000e+00 8.61936025e+01] [-1.42473002e-02 9.99898502e-01 0.00000000e+00 -7.59790665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38049395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:-0.76, Z:-0.01 [[ 9.99947930e-01 1.02047889e-02 0.00000000e+00 8.62529303e+01] [-1.02047889e-02 9.99947930e-01 0.00000000e+00 -7.64207509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.90590782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:-0.77, Z:-0.02 [[ 9.99952460e-01 9.75078482e-03 0.00000000e+00 8.63134904e+01] [-9.75078482e-03 9.99952460e-01 0.00000000e+00 -7.65618205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35015397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:-0.77, Z:-0.01 [[ 9.99923682e-01 1.23543806e-02 0.00000000e+00 8.63737542e+01] [-1.23543806e-02 9.99923682e-01 0.00000000e+00 -7.71641492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17092650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.43, Y:-0.77, Z:-0.02 [[ 9.99914047e-01 1.31109860e-02 0.00000000e+00 8.64339537e+01] [-1.31109860e-02 9.99914047e-01 0.00000000e+00 -7.70170423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41461292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.49, Y:-0.77, Z:-0.02 [[ 9.99897282e-01 1.43326977e-02 0.00000000e+00 8.64945128e+01] [-1.43326977e-02 9.99897282e-01 0.00000000e+00 -7.74828027e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41869221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.55, Y:-0.78, Z:-0.02 [[ 9.99901861e-01 1.40095615e-02 0.00000000e+00 8.65546907e+01] [-1.40095615e-02 9.99901861e-01 0.00000000e+00 -7.75400556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05008660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.61, Y:-0.77, Z:-0.02 [[ 9.99889182e-01 1.48870429e-02 0.00000000e+00 8.66139632e+01] [-1.48870429e-02 9.99889182e-01 0.00000000e+00 -7.72903798e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99207329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.67, Y:-0.77, Z:-0.03 [[ 9.99901315e-01 1.40485297e-02 0.00000000e+00 8.66734171e+01] [-1.40485297e-02 9.99901315e-01 0.00000000e+00 -7.72172736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61023445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.73, Y:-0.77, Z:-0.02 [[ 9.99937130e-01 1.12132348e-02 0.00000000e+00 8.67333049e+01] [-1.12132348e-02 9.99937130e-01 0.00000000e+00 -7.71230821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39592144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.79, Y:-0.77, Z:-0.02 [[ 9.99976595e-01 6.84176431e-03 0.00000000e+00 8.67939279e+01] [-6.84176431e-03 9.99976595e-01 0.00000000e+00 -7.72113508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14276356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.85, Y:-0.76, Z:-0.01 [[ 9.99988524e-01 4.79073097e-03 0.00000000e+00 8.68544299e+01] [-4.79073097e-03 9.99988524e-01 0.00000000e+00 -7.64732474e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46773830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:-0.77, Z:-0.03 [[ 9.99970609e-01 7.66684643e-03 0.00000000e+00 8.69141940e+01] [-7.66684643e-03 9.99970609e-01 0.00000000e+00 -7.71415323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60953869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.97, Y:-0.77, Z:-0.02 [[ 9.99970664e-01 7.65964434e-03 0.00000000e+00 8.69743837e+01] [-7.65964434e-03 9.99970664e-01 0.00000000e+00 -7.71494611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42629382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.03, Y:-0.77, Z:-0.01 [[ 9.99968682e-01 7.91419175e-03 0.00000000e+00 8.70349147e+01] [-7.91419175e-03 9.99968682e-01 0.00000000e+00 -7.67426506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16209836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:-0.77, Z:-0.02 [[ 9.99921750e-01 1.25097351e-02 0.00000000e+00 8.70955244e+01] [-1.25097351e-02 9.99921750e-01 0.00000000e+00 -7.67486984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19091955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:-0.76, Z:-0.02 [[ 9.99830260e-01 1.84242148e-02 0.00000000e+00 8.71553917e+01] [-1.84242148e-02 9.99830260e-01 0.00000000e+00 -7.61037497e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30910082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.21, Y:-0.76, Z:-0.02 [[ 9.99779368e-01 2.10051405e-02 0.00000000e+00 8.72146949e+01] [-2.10051405e-02 9.99779368e-01 0.00000000e+00 -7.61280558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25485611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:-0.76, Z:-0.02 [[ 9.99780309e-01 2.09603043e-02 0.00000000e+00 8.72741122e+01] [-2.09603043e-02 9.99780309e-01 0.00000000e+00 -7.55223065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89888170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:-0.75, Z:-0.01 [[ 9.99793371e-01 2.03277037e-02 0.00000000e+00 8.73339405e+01] [-2.03277037e-02 9.99793371e-01 0.00000000e+00 -7.51893613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06425323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:-0.75, Z:-0.02 [[ 9.99862192e-01 1.66010897e-02 0.00000000e+00 8.73934543e+01] [-1.66010897e-02 9.99862192e-01 0.00000000e+00 -7.47340772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30553405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.45, Y:-0.74, Z:-0.01 [[ 9.99925024e-01 1.22452598e-02 0.00000000e+00 8.74533521e+01] [-1.22452598e-02 9.99925024e-01 0.00000000e+00 -7.43841885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.82288607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:-0.75, Z:-0.02 [[ 9.99994019e-01 3.45874790e-03 0.00000000e+00 8.75131846e+01] [-3.45874790e-03 9.99994019e-01 0.00000000e+00 -7.45344432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28251798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:-0.74, Z:-0.02 [[ 9.99999570e-01 -9.27076152e-04 0.00000000e+00 8.75734141e+01] [ 9.27076152e-04 9.99999570e-01 0.00000000e+00 -7.43526112e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23822461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.63, Y:-0.74, Z:-0.02 [[ 9.99998054e-01 -1.97303751e-03 0.00000000e+00 8.76342026e+01] [ 1.97303751e-03 9.99998054e-01 0.00000000e+00 -7.36363317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47281697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-0.74, Z:-0.02 [[ 9.99997025e-01 -2.43922412e-03 0.00000000e+00 8.76942282e+01] [ 2.43922412e-03 9.99997025e-01 0.00000000e+00 -7.38129376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46152588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:-0.74, Z:-0.02 [[ 9.99983270e-01 -5.78443059e-03 0.00000000e+00 8.77549028e+01] [ 5.78443059e-03 9.99983270e-01 0.00000000e+00 -7.35856867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21908191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.82, Y:-0.74, Z:-0.02 [[ 9.99963122e-01 -8.58802025e-03 0.00000000e+00 8.78154795e+01] [ 8.58802025e-03 9.99963122e-01 0.00000000e+00 -7.39197205e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33146030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.88, Y:-0.74, Z:-0.03 [[ 9.99947608e-01 -1.02362906e-02 0.00000000e+00 8.78770194e+01] [ 1.02362906e-02 9.99947608e-01 0.00000000e+00 -7.40296676e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55492322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.94, Y:-0.74, Z:-0.02 [[ 9.99975818e-01 -6.95442051e-03 0.00000000e+00 8.79378795e+01] [ 6.95442051e-03 9.99975818e-01 0.00000000e+00 -7.36129888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32637777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:-0.74, Z:-0.01 [[ 9.99999917e-01 -4.07553392e-04 0.00000000e+00 8.79987082e+01] [ 4.07553392e-04 9.99999917e-01 0.00000000e+00 -7.37845707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02549632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:-0.74, Z:-0.02 [[ 9.99999952e-01 3.10640577e-04 0.00000000e+00 8.80597834e+01] [-3.10640577e-04 9.99999952e-01 0.00000000e+00 -7.37337802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37070115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.12, Y:-0.75, Z:-0.02 [[ 9.99986406e-01 -5.21415041e-03 0.00000000e+00 8.81205233e+01] [ 5.21415041e-03 9.99986406e-01 0.00000000e+00 -7.45217769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49143721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.18, Y:-0.74, Z:-0.01 [[ 9.99980990e-01 -6.16599267e-03 0.00000000e+00 8.81808659e+01] [ 6.16599267e-03 9.99980990e-01 0.00000000e+00 -7.43504792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22490547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.24, Y:-0.75, Z:-0.02 [[ 9.99991635e-01 -4.09028986e-03 0.00000000e+00 8.82409855e+01] [ 4.09028986e-03 9.99991635e-01 0.00000000e+00 -7.51576448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49708386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.30, Y:-0.75, Z:-0.02 [[ 9.99999852e-01 5.44504817e-04 0.00000000e+00 8.83018040e+01] [-5.44504817e-04 9.99999852e-01 0.00000000e+00 -7.51978735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47233685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.36, Y:-0.75, Z:-0.02 [[ 9.99956721e-01 9.30357037e-03 0.00000000e+00 8.83619199e+01] [-9.30357037e-03 9.99956721e-01 0.00000000e+00 -7.52514136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38001017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.42, Y:-0.75, Z:-0.02 [[ 9.99908928e-01 1.34957682e-02 0.00000000e+00 8.84217759e+01] [-1.34957682e-02 9.99908928e-01 0.00000000e+00 -7.49821342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11301286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.48, Y:-0.75, Z:-0.03 [[ 9.99922180e-01 1.24753603e-02 0.00000000e+00 8.84810297e+01] [-1.24753603e-02 9.99922180e-01 0.00000000e+00 -7.54414447e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.69416914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.54, Y:-0.76, Z:-0.03 [[ 9.99954144e-01 9.57656525e-03 0.00000000e+00 8.85404395e+01] [-9.57656525e-03 9.99954144e-01 0.00000000e+00 -7.55801913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60506704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:88.60, Y:-0.76, Z:-0.02 [[ 9.99938444e-01 1.10954561e-02 0.00000000e+00 8.86006897e+01] [-1.10954561e-02 9.99938444e-01 0.00000000e+00 -7.59168283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11841114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.66, Y:-0.76, Z:-0.02 [[ 9.99890685e-01 1.47857185e-02 0.00000000e+00 8.86603195e+01] [-1.47857185e-02 9.99890685e-01 0.00000000e+00 -7.59522457e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29573633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:-0.75, Z:-0.03 [[ 9.99772281e-01 2.13397924e-02 0.00000000e+00 8.87198085e+01] [-2.13397924e-02 9.99772281e-01 0.00000000e+00 -7.53884189e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70590269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.78, Y:-0.75, Z:-0.02 [[ 9.99750495e-01 2.23371576e-02 0.00000000e+00 8.87790623e+01] [-2.23371576e-02 9.99750495e-01 0.00000000e+00 -7.49927802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.39051457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:-0.75, Z:-0.02 [[ 9.99778300e-01 2.10558990e-02 0.00000000e+00 8.88385928e+01] [-2.10558990e-02 9.99778300e-01 0.00000000e+00 -7.45870455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26334695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.90, Y:-0.75, Z:-0.02 [[ 9.99807271e-01 1.96321332e-02 0.00000000e+00 8.88982283e+01] [-1.96321332e-02 9.99807271e-01 0.00000000e+00 -7.45662288e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36239295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.96, Y:-0.74, Z:-0.03 [[ 9.99829142e-01 1.84847788e-02 0.00000000e+00 8.89582250e+01] [-1.84847788e-02 9.99829142e-01 0.00000000e+00 -7.38297103e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55629253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.02, Y:-0.73, Z:-0.02 [[ 9.99826873e-01 1.86070937e-02 0.00000000e+00 8.90174840e+01] [-1.86070937e-02 9.99826873e-01 0.00000000e+00 -7.30695573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47535062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.08, Y:-0.72, Z:-0.03 [[ 9.99825809e-01 1.86641646e-02 0.00000000e+00 8.90763267e+01] [-1.86641646e-02 9.99825809e-01 0.00000000e+00 -7.23106315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.50367911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.14, Y:-0.72, Z:-0.01 [[ 9.99828106e-01 1.85407134e-02 0.00000000e+00 8.91354918e+01] [-1.85407134e-02 9.99828106e-01 0.00000000e+00 -7.18624790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27494885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.19, Y:-0.71, Z:-0.03 [[ 9.99916028e-01 1.29590688e-02 0.00000000e+00 8.91948971e+01] [-1.29590688e-02 9.99916028e-01 0.00000000e+00 -7.14984560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66205210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:-0.71, Z:-0.03 [[ 9.99993006e-01 3.73993512e-03 0.00000000e+00 8.92545704e+01] [-3.73993512e-03 9.99993006e-01 0.00000000e+00 -7.06274153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74709855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:-0.71, Z:-0.03 [[ 9.99991512e-01 -4.12012123e-03 0.00000000e+00 8.93148777e+01] [ 4.12012123e-03 9.99991512e-01 0.00000000e+00 -7.07258299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16699483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.38, Y:-0.71, Z:-0.03 [[ 9.99966205e-01 -8.22119690e-03 0.00000000e+00 8.93758087e+01] [ 8.22119690e-03 9.99966205e-01 0.00000000e+00 -7.08015922e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07719647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.44, Y:-0.71, Z:-0.03 [[ 9.99884078e-01 -1.52259962e-02 0.00000000e+00 8.94372516e+01] [ 1.52259962e-02 9.99884078e-01 0.00000000e+00 -7.07240772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00036043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:-0.71, Z:-0.03 [[ 9.99879833e-01 -1.55022328e-02 0.00000000e+00 8.94990886e+01] [ 1.55022328e-02 9.99879833e-01 0.00000000e+00 -7.07209214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06156285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:-0.71, Z:-0.03 [[ 9.99941553e-01 -1.08116185e-02 0.00000000e+00 8.95606766e+01] [ 1.08116185e-02 9.99941553e-01 0.00000000e+00 -7.10141542e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29320072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:-0.71, Z:-0.03 [[ 9.99988761e-01 -4.74111100e-03 0.00000000e+00 8.96220301e+01] [ 4.74111100e-03 9.99988761e-01 0.00000000e+00 -7.05565259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04266922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.68, Y:-0.70, Z:-0.03 [[ 9.99999882e-01 4.86108425e-04 0.00000000e+00 8.96822819e+01] [-4.86108425e-04 9.99999882e-01 0.00000000e+00 -7.03139743e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82749951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.74, Y:-0.70, Z:-0.03 [[ 9.99990880e-01 4.27091541e-03 0.00000000e+00 8.97424361e+01] [-4.27091541e-03 9.99990880e-01 0.00000000e+00 -7.01039065e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05747502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.80, Y:-0.69, Z:-0.03 [[ 9.99954097e-01 9.58144952e-03 0.00000000e+00 8.98027623e+01] [-9.58144952e-03 9.99954097e-01 0.00000000e+00 -6.91335815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00314278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.86, Y:-0.69, Z:-0.03 [[ 9.99919319e-01 1.27025595e-02 0.00000000e+00 8.98621157e+01] [-1.27025595e-02 9.99919319e-01 0.00000000e+00 -6.86433913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82956660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.92, Y:-0.69, Z:-0.03 [[ 9.99883792e-01 1.52447480e-02 0.00000000e+00 8.99214890e+01] [-1.52447480e-02 9.99883792e-01 0.00000000e+00 -6.88658612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98639879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.98, Y:-0.68, Z:-0.03 [[ 9.99915631e-01 1.29896819e-02 0.00000000e+00 8.99802552e+01] [-1.29896819e-02 9.99915631e-01 0.00000000e+00 -6.84694864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15655714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.04, Y:-0.68, Z:-0.03 [[ 9.99959836e-01 8.96253857e-03 0.00000000e+00 9.00387867e+01] [-8.96253857e-03 9.99959836e-01 0.00000000e+00 -6.81158142e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22305321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.10, Y:-0.68, Z:-0.02 [[ 9.99957529e-01 9.21629350e-03 0.00000000e+00 9.00980656e+01] [-9.21629350e-03 9.99957529e-01 0.00000000e+00 -6.76451600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67983242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.16, Y:-0.68, Z:-0.03 [[ 9.99980957e-01 6.17128350e-03 0.00000000e+00 9.01576801e+01] [-6.17128350e-03 9.99980957e-01 0.00000000e+00 -6.75848493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20180403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.22, Y:-0.68, Z:-0.03 [[ 9.99999931e-01 -3.71904944e-04 0.00000000e+00 9.02175052e+01] [ 3.71904944e-04 9.99999931e-01 0.00000000e+00 -6.80754805e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48092371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.28, Y:-0.68, Z:-0.02 [[ 9.99973896e-01 -7.22548474e-03 0.00000000e+00 9.02782613e+01] [ 7.22548474e-03 9.99973896e-01 0.00000000e+00 -6.77785600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58485781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.34, Y:-0.69, Z:-0.04 [[ 9.99882897e-01 -1.53033630e-02 0.00000000e+00 9.03399460e+01] [ 1.53033630e-02 9.99882897e-01 0.00000000e+00 -6.85058102e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55895596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.40, Y:-0.69, Z:-0.03 [[ 9.99794955e-01 -2.02496383e-02 0.00000000e+00 9.04017602e+01] [ 2.02496383e-02 9.99794955e-01 0.00000000e+00 -6.94671775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44102431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.46, Y:-0.70, Z:-0.03 [[ 9.99690038e-01 -2.48963436e-02 0.00000000e+00 9.04642431e+01] [ 2.48963436e-02 9.99690038e-01 0.00000000e+00 -7.04643645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44592553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:-0.71, Z:-0.04 [[ 9.99668082e-01 -2.57628649e-02 0.00000000e+00 9.05264630e+01] [ 2.57628649e-02 9.99668082e-01 0.00000000e+00 -7.12359390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62560157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:-0.72, Z:-0.04 [[ 9.99678397e-01 -2.53594588e-02 0.00000000e+00 9.05884279e+01] [ 2.53594588e-02 9.99678397e-01 0.00000000e+00 -7.18886470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78519072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.65, Y:-0.73, Z:-0.04 [[ 9.99653121e-01 -2.63369998e-02 0.00000000e+00 9.06505275e+01] [ 2.63369998e-02 9.99653121e-01 0.00000000e+00 -7.32405317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86719106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.71, Y:-0.75, Z:-0.04 [[ 9.99617325e-01 -2.76623040e-02 0.00000000e+00 9.07123230e+01] [ 2.76623040e-02 9.99617325e-01 0.00000000e+00 -7.45888389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91803538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.77, Y:-0.75, Z:-0.04 [[ 9.99687905e-01 -2.49818632e-02 0.00000000e+00 9.07746622e+01] [ 2.49818632e-02 9.99687905e-01 0.00000000e+00 -7.52048263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10940300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:-0.76, Z:-0.04 [[ 9.99768395e-01 -2.15210618e-02 0.00000000e+00 9.08362416e+01] [ 2.15210618e-02 9.99768395e-01 0.00000000e+00 -7.56554979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21006527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.90, Y:-0.76, Z:-0.04 [[ 9.99947042e-01 -1.02914021e-02 0.00000000e+00 9.08973167e+01] [ 1.02914021e-02 9.99947042e-01 0.00000000e+00 -7.63379468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30618238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:90.96, Y:-0.77, Z:-0.03 [[ 9.99987429e-01 -5.01408355e-03 0.00000000e+00 9.09578315e+01] [ 5.01408355e-03 9.99987429e-01 0.00000000e+00 -7.67895350e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70452285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.02, Y:-0.77, Z:-0.04 [[ 9.99997245e-01 -2.34735356e-03 0.00000000e+00 9.10188627e+01] [ 2.34735356e-03 9.99997245e-01 0.00000000e+00 -7.71975364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37096302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.08, Y:-0.78, Z:-0.05 [[ 9.99998973e-01 -1.43332725e-03 0.00000000e+00 9.10792982e+01] [ 1.43332725e-03 9.99998973e-01 0.00000000e+00 -7.76461578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67642362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:91.14, Y:-0.78, Z:-0.03 [[ 9.99999867e-01 5.15528335e-04 0.00000000e+00 9.11397495e+01] [-5.15528335e-04 9.99999867e-01 0.00000000e+00 -7.81165034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06547361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.20, Y:-0.78, Z:-0.05 [[ 9.99997856e-01 2.07088274e-03 0.00000000e+00 9.12005264e+01] [-2.07088274e-03 9.99997856e-01 0.00000000e+00 -7.82547280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76352640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.26, Y:-0.79, Z:-0.05 [[ 9.99997029e-01 2.43755937e-03 0.00000000e+00 9.12606581e+01] [-2.43755937e-03 9.99997029e-01 0.00000000e+00 -7.92720597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75411360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.32, Y:-0.80, Z:-0.05 [[ 9.99998270e-01 1.86018259e-03 0.00000000e+00 9.13214529e+01] [-1.86018259e-03 9.99998270e-01 0.00000000e+00 -7.95097407e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94938144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:91.38, Y:-0.80, Z:-0.04 [[ 9.99986709e-01 5.15567906e-03 0.00000000e+00 9.13815637e+01] [-5.15567906e-03 9.99986709e-01 0.00000000e+00 -8.02434440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04526913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.44, Y:-0.81, Z:-0.04 [[ 9.99975069e-01 7.06132616e-03 0.00000000e+00 9.14417672e+01] [-7.06132616e-03 9.99975069e-01 0.00000000e+00 -8.05303538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53074327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.50, Y:-0.81, Z:-0.05 [[ 9.99968745e-01 7.90622113e-03 0.00000000e+00 9.15029521e+01] [-7.90622113e-03 9.99968745e-01 0.00000000e+00 -8.07965083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90872640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.56, Y:-0.81, Z:-0.04 [[ 9.99926420e-01 1.21307616e-02 0.00000000e+00 9.15635831e+01] [-1.21307616e-02 9.99926420e-01 0.00000000e+00 -8.09943898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52850069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.62, Y:-0.81, Z:-0.05 [[ 9.99924170e-01 1.23147932e-02 0.00000000e+00 9.16246175e+01] [-1.23147932e-02 9.99924170e-01 0.00000000e+00 -8.11732232e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.27425129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.69, Y:-0.81, Z:-0.05 [[ 9.99889229e-01 1.48838866e-02 0.00000000e+00 9.16855349e+01] [-1.48838866e-02 9.99889229e-01 0.00000000e+00 -8.11555926e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31942200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.75, Y:-0.81, Z:-0.05 [[ 9.99815209e-01 1.92236218e-02 0.00000000e+00 9.17460849e+01] [-1.92236218e-02 9.99815209e-01 0.00000000e+00 -8.05129273e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22876393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:91.81, Y:-0.80, Z:-0.05 [[ 9.99803282e-01 1.98342404e-02 0.00000000e+00 9.18069046e+01] [-1.98342404e-02 9.99803282e-01 0.00000000e+00 -8.03478723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41714914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.87, Y:-0.80, Z:-0.05 [[ 9.99825325e-01 1.86900640e-02 0.00000000e+00 9.18670657e+01] [-1.86900640e-02 9.99825325e-01 0.00000000e+00 -8.02990445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49329347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.93, Y:-0.80, Z:-0.05 [[ 9.99872003e-01 1.59992788e-02 0.00000000e+00 9.19270503e+01] [-1.59992788e-02 9.99872003e-01 0.00000000e+00 -8.00251518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47152529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.99, Y:-0.79, Z:-0.05 [[ 9.99864631e-01 1.64535757e-02 0.00000000e+00 9.19876078e+01] [-1.64535757e-02 9.99864631e-01 0.00000000e+00 -7.93758231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56313963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.05, Y:-0.79, Z:-0.06 [[ 9.99892169e-01 1.46850247e-02 0.00000000e+00 9.20478854e+01] [-1.46850247e-02 9.99892169e-01 0.00000000e+00 -7.87405562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53343098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.11, Y:-0.79, Z:-0.06 [[ 9.99957464e-01 9.22335959e-03 0.00000000e+00 9.21084581e+01] [-9.22335959e-03 9.99957464e-01 0.00000000e+00 -7.88513844e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67665086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.17, Y:-0.78, Z:-0.06 [[ 9.99970123e-01 7.72997075e-03 0.00000000e+00 9.21692654e+01] [-7.72997075e-03 9.99970123e-01 0.00000000e+00 -7.82569122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.57407005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.23, Y:-0.78, Z:-0.06 [[ 9.99943049e-01 1.06723618e-02 0.00000000e+00 9.22294079e+01] [-1.06723618e-02 9.99943049e-01 0.00000000e+00 -7.78675466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72935985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.29, Y:-0.77, Z:-0.07 [[ 9.99666562e-01 2.58217949e-02 0.00000000e+00 9.22895870e+01] [-2.58217949e-02 9.99666562e-01 0.00000000e+00 -7.66005634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.21602953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.35, Y:-0.77, Z:-0.06 [[ 9.99862310e-01 1.65940213e-02 0.00000000e+00 9.23496600e+01] [-1.65940213e-02 9.99862310e-01 0.00000000e+00 -7.66801077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55651941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.41, Y:-0.76, Z:-0.06 [[ 9.99859312e-01 1.67736477e-02 0.00000000e+00 9.24094184e+01] [-1.67736477e-02 9.99859312e-01 0.00000000e+00 -7.61724131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61726837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.47, Y:-0.76, Z:-0.06 [[ 9.99900137e-01 1.41320763e-02 0.00000000e+00 9.24692410e+01] [-1.41320763e-02 9.99900137e-01 0.00000000e+00 -7.55870354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54504289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.53, Y:-0.75, Z:-0.06 [[ 9.99882251e-01 1.53454627e-02 0.00000000e+00 9.25292697e+01] [-1.53454627e-02 9.99882251e-01 0.00000000e+00 -7.52149616e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56489509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.59, Y:-0.74, Z:-0.06 [[ 9.99900026e-01 1.41399467e-02 0.00000000e+00 9.25891926e+01] [-1.41399467e-02 9.99900026e-01 0.00000000e+00 -7.41668026e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.70215867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:-0.74, Z:-0.06 [[ 9.99938484e-01 1.10918060e-02 0.00000000e+00 9.26487546e+01] [-1.10918060e-02 9.99938484e-01 0.00000000e+00 -7.43204233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65995776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.71, Y:-0.74, Z:-0.04 [[ 9.99968637e-01 7.91989500e-03 0.00000000e+00 9.27080873e+01] [-7.91989500e-03 9.99968637e-01 0.00000000e+00 -7.41216251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18641372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.77, Y:-0.74, Z:-0.06 [[ 9.99985973e-01 5.29656128e-03 0.00000000e+00 9.27682434e+01] [-5.29656128e-03 9.99985973e-01 0.00000000e+00 -7.37857008e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82849640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:-0.75, Z:-0.06 [[ 9.99992093e-01 -3.97657513e-03 0.00000000e+00 9.28283016e+01] [ 3.97657513e-03 9.99992093e-01 0.00000000e+00 -7.47493490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.79892584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:-0.75, Z:-0.04 [[ 9.99974740e-01 -7.10766753e-03 0.00000000e+00 9.28892964e+01] [ 7.10766753e-03 9.99974740e-01 0.00000000e+00 -7.52112481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.02324767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:-0.75, Z:-0.04 [[ 9.99955951e-01 -9.38594121e-03 0.00000000e+00 9.29497111e+01] [ 9.38594121e-03 9.99955951e-01 0.00000000e+00 -7.51988386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06765789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:-0.76, Z:-0.06 [[ 9.99956697e-01 -9.30608997e-03 0.00000000e+00 9.30106231e+01] [ 9.30608997e-03 9.99956697e-01 0.00000000e+00 -7.56402143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81965009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:-0.76, Z:-0.06 [[ 9.99963542e-01 -8.53904027e-03 0.00000000e+00 9.30711755e+01] [ 8.53904027e-03 9.99963542e-01 0.00000000e+00 -7.60802313e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67460190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:-0.77, Z:-0.06 [[ 9.99951705e-01 -9.82789317e-03 0.00000000e+00 9.31315289e+01] [ 9.82789317e-03 9.99951705e-01 0.00000000e+00 -7.65294596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76064236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.19, Y:-0.77, Z:-0.06 [[ 9.99943497e-01 -1.06302406e-02 0.00000000e+00 9.31915846e+01] [ 1.06302406e-02 9.99943497e-01 0.00000000e+00 -7.71080183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59006087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.25, Y:-0.77, Z:-0.06 [[ 9.99931621e-01 -1.16941243e-02 0.00000000e+00 9.32519254e+01] [ 1.16941243e-02 9.99931621e-01 0.00000000e+00 -7.74647633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.71320602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.31, Y:-0.78, Z:-0.04 [[ 9.99958237e-01 -9.13919678e-03 0.00000000e+00 9.33120587e+01] [ 9.13919678e-03 9.99958237e-01 0.00000000e+00 -7.78517211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04145524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.37, Y:-0.78, Z:-0.06 [[ 9.99989076e-01 -4.67407725e-03 0.00000000e+00 9.33724231e+01] [ 4.67407725e-03 9.99989076e-01 0.00000000e+00 -7.78914496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67383582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.43, Y:-0.78, Z:-0.06 [[ 9.99999902e-01 4.42450175e-04 0.00000000e+00 9.34327437e+01] [-4.42450175e-04 9.99999902e-01 0.00000000e+00 -7.79194293e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66016174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.49, Y:-0.78, Z:-0.06 [[ 9.99998093e-01 1.95288699e-03 0.00000000e+00 9.34928112e+01] [-1.95288699e-03 9.99998093e-01 0.00000000e+00 -7.81732610e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62298122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.55, Y:-0.78, Z:-0.04 [[ 9.99999827e-01 5.87852986e-04 0.00000000e+00 9.35531611e+01] [-5.87852986e-04 9.99999827e-01 0.00000000e+00 -7.79563406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94530461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:-0.78, Z:-0.06 [[ 9.99987856e-01 4.92820156e-03 0.00000000e+00 9.36129463e+01] [-4.92820156e-03 9.99987856e-01 0.00000000e+00 -7.75275045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65209646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.67, Y:-0.77, Z:-0.06 [[ 9.99963413e-01 8.55408847e-03 0.00000000e+00 9.36738103e+01] [-8.55408847e-03 9.99963413e-01 0.00000000e+00 -7.71696099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65160417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.73, Y:-0.77, Z:-0.06 [[ 9.99907321e-01 1.36142975e-02 0.00000000e+00 9.37346126e+01] [-1.36142975e-02 9.99907321e-01 0.00000000e+00 -7.70354934e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81919562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.79, Y:-0.76, Z:-0.06 [[ 9.99834953e-01 1.81677513e-02 0.00000000e+00 9.37948598e+01] [-1.81677513e-02 9.99834953e-01 0.00000000e+00 -7.62786677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72061687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.85, Y:-0.76, Z:-0.06 [[ 9.99858840e-01 1.68017923e-02 0.00000000e+00 9.38544512e+01] [-1.68017923e-02 9.99858840e-01 0.00000000e+00 -7.55771279e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50530396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.91, Y:-0.75, Z:-0.05 [[ 9.99950510e-01 9.94872673e-03 0.00000000e+00 9.39144128e+01] [-9.94872673e-03 9.99950510e-01 0.00000000e+00 -7.48527609e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43242808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.98, Y:-0.75, Z:-0.05 [[ 9.99998883e-01 1.49463281e-03 0.00000000e+00 9.39753398e+01] [-1.49463281e-03 9.99998883e-01 0.00000000e+00 -7.52266037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49657382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.04, Y:-0.75, Z:-0.04 [[ 9.99979458e-01 -6.40959166e-03 0.00000000e+00 9.40360270e+01] [ 6.40959166e-03 9.99979458e-01 0.00000000e+00 -7.52958799e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23170799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.10, Y:-0.75, Z:-0.06 [[ 9.99872414e-01 -1.59736023e-02 0.00000000e+00 9.40968125e+01] [ 1.59736023e-02 9.99872414e-01 0.00000000e+00 -7.53297032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.80275972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.16, Y:-0.76, Z:-0.05 [[ 9.99877735e-01 -1.56369472e-02 0.00000000e+00 9.41581348e+01] [ 1.56369472e-02 9.99877735e-01 0.00000000e+00 -7.58961484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33436011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.22, Y:-0.76, Z:-0.06 [[ 9.99935423e-01 -1.13643800e-02 0.00000000e+00 9.42190947e+01] [ 1.13643800e-02 9.99935423e-01 0.00000000e+00 -7.59145262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67115459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.28, Y:-0.77, Z:-0.06 [[ 9.99976086e-01 -6.91570925e-03 0.00000000e+00 9.42794899e+01] [ 6.91570925e-03 9.99976086e-01 0.00000000e+00 -7.65508992e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03176330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.34, Y:-0.77, Z:-0.06 [[ 9.99981356e-01 -6.10643770e-03 0.00000000e+00 9.43402884e+01] [ 6.10643770e-03 9.99981356e-01 0.00000000e+00 -7.68048575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55868494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.40, Y:-0.77, Z:-0.05 [[ 9.99993802e-01 -3.52078345e-03 0.00000000e+00 9.44011052e+01] [ 3.52078345e-03 9.99993802e-01 0.00000000e+00 -7.69420864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34225543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.46, Y:-0.78, Z:-0.06 [[ 9.99999873e-01 -5.03211597e-04 0.00000000e+00 9.44615967e+01] [ 5.03211597e-04 9.99999873e-01 0.00000000e+00 -7.80951642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.74715507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.52, Y:-0.78, Z:-0.04 [[ 9.99986087e-01 5.27506678e-03 0.00000000e+00 9.45221265e+01] [-5.27506678e-03 9.99986087e-01 0.00000000e+00 -7.83480046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29347414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.58, Y:-0.79, Z:-0.06 [[ 9.99957605e-01 9.20807329e-03 0.00000000e+00 9.45824545e+01] [-9.20807329e-03 9.99957605e-01 0.00000000e+00 -7.85520906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51446737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:-0.79, Z:-0.06 [[ 9.99866128e-01 1.63623363e-02 0.00000000e+00 9.46425300e+01] [-1.63623363e-02 9.99866128e-01 0.00000000e+00 -7.85977388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83433564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:-0.79, Z:-0.06 [[ 9.99837119e-01 1.80481641e-02 0.00000000e+00 9.47030679e+01] [-1.80481641e-02 9.99837119e-01 0.00000000e+00 -7.87944697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82180780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.76, Y:-0.79, Z:-0.06 [[ 9.99850721e-01 1.72782050e-02 0.00000000e+00 9.47637034e+01] [-1.72782050e-02 9.99850721e-01 0.00000000e+00 -7.87774354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54278617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.82, Y:-0.78, Z:-0.06 [[ 9.99885732e-01 1.51169425e-02 0.00000000e+00 9.48237407e+01] [-1.51169425e-02 9.99885732e-01 0.00000000e+00 -7.82972265e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76161818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.88, Y:-0.78, Z:-0.06 [[ 9.99879457e-01 1.55265008e-02 0.00000000e+00 9.48843127e+01] [-1.55265008e-02 9.99879457e-01 0.00000000e+00 -7.84109831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81804156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.95, Y:-0.78, Z:-0.05 [[ 9.99881016e-01 1.54257645e-02 0.00000000e+00 9.49450499e+01] [-1.54257645e-02 9.99881016e-01 0.00000000e+00 -7.80347961e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.21357230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.01, Y:-0.78, Z:-0.05 [[ 9.99898777e-01 1.42280084e-02 0.00000000e+00 9.50053622e+01] [-1.42280084e-02 9.99898777e-01 0.00000000e+00 -7.76028115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46352322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.07, Y:-0.78, Z:-0.06 [[ 9.99892597e-01 1.46558364e-02 0.00000000e+00 9.50656649e+01] [-1.46558364e-02 9.99892597e-01 0.00000000e+00 -7.82554325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03707001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.13, Y:-0.78, Z:-0.06 [[ 9.99886879e-01 1.50408855e-02 0.00000000e+00 9.51257264e+01] [-1.50408855e-02 9.99886879e-01 0.00000000e+00 -7.81262025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69339742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.19, Y:-0.77, Z:-0.05 [[ 9.99854354e-01 1.70666793e-02 0.00000000e+00 9.51863751e+01] [-1.70666793e-02 9.99854354e-01 0.00000000e+00 -7.74511259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29532287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.25, Y:-0.77, Z:-0.06 [[ 9.99776074e-01 2.11613504e-02 0.00000000e+00 9.52466705e+01] [-2.11613504e-02 9.99776074e-01 0.00000000e+00 -7.74837949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63008793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.31, Y:-0.77, Z:-0.06 [[ 9.99714028e-01 2.39136413e-02 0.00000000e+00 9.53074981e+01] [-2.39136413e-02 9.99714028e-01 0.00000000e+00 -7.72192759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91030554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.37, Y:-0.77, Z:-0.05 [[ 9.99714996e-01 2.38731546e-02 0.00000000e+00 9.53675236e+01] [-2.38731546e-02 9.99714996e-01 0.00000000e+00 -7.67010039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.45282397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.43, Y:-0.77, Z:-0.06 [[ 9.99724002e-01 2.34929604e-02 0.00000000e+00 9.54268635e+01] [-2.34929604e-02 9.99724002e-01 0.00000000e+00 -7.66114281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.54607760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.49, Y:-0.76, Z:-0.04 [[ 9.99717252e-01 2.37784754e-02 0.00000000e+00 9.54861747e+01] [-2.37784754e-02 9.99717252e-01 0.00000000e+00 -7.62718042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16579437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:95.55, Y:-0.76, Z:-0.04 [[ 9.99801465e-01 1.99256512e-02 0.00000000e+00 9.55457818e+01] [-1.99256512e-02 9.99801465e-01 0.00000000e+00 -7.58037151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83923350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.61, Y:-0.76, Z:-0.06 [[ 9.99899272e-01 1.41931457e-02 0.00000000e+00 9.56056788e+01] [-1.41931457e-02 9.99899272e-01 0.00000000e+00 -7.56815806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.58808758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.67, Y:-0.76, Z:-0.05 [[ 9.99967217e-01 8.09722098e-03 0.00000000e+00 9.56658676e+01] [-8.09722098e-03 9.99967217e-01 0.00000000e+00 -7.60228923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29541255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.73, Y:-0.77, Z:-0.05 [[ 9.99995849e-01 2.88132371e-03 0.00000000e+00 9.57263069e+01] [-2.88132371e-03 9.99995849e-01 0.00000000e+00 -7.65653037e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28165155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.79, Y:-0.77, Z:-0.05 [[ 9.99998566e-01 -1.69344401e-03 0.00000000e+00 9.57864529e+01] [ 1.69344401e-03 9.99998566e-01 0.00000000e+00 -7.67676894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34725989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342320588 meters Centerline goodness : 0.981300 with order 1 Centerline is valid? [True, True] Translation: X:95.84, Y:-0.74, Z:-0.06 [[ 9.96056233e-01 8.87241804e-02 0.00000000e+00 9.58443866e+01] [-8.87241804e-02 9.96056233e-01 0.00000000e+00 -7.38254060e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83319184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.90, Y:-0.77, Z:-0.04 [[ 9.99991027e-01 4.23628166e-03 0.00000000e+00 9.59036975e+01] [-4.23628166e-03 9.99991027e-01 0.00000000e+00 -7.70885376e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06556603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.96, Y:-0.78, Z:-0.04 [[ 9.99999153e-01 1.30123129e-03 0.00000000e+00 9.59640560e+01] [-1.30123129e-03 9.99999153e-01 0.00000000e+00 -7.79666792e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06453544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.02, Y:-0.78, Z:-0.05 [[ 9.99976820e-01 -6.80871457e-03 0.00000000e+00 9.60243233e+01] [ 6.80871457e-03 9.99976820e-01 0.00000000e+00 -7.84281369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87085583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.08, Y:-0.79, Z:-0.05 [[ 9.99932626e-01 -1.16079263e-02 0.00000000e+00 9.60844157e+01] [ 1.16079263e-02 9.99932626e-01 0.00000000e+00 -7.88927709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16548186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.14, Y:-0.80, Z:-0.04 [[ 9.99865240e-01 -1.64165097e-02 0.00000000e+00 9.61449588e+01] [ 1.64165097e-02 9.99865240e-01 0.00000000e+00 -8.04405457e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85537567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.21, Y:-0.81, Z:-0.04 [[ 9.99890715e-01 -1.47836957e-02 0.00000000e+00 9.62054536e+01] [ 1.47836957e-02 9.99890715e-01 0.00000000e+00 -8.09243030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62220419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.27, Y:-0.82, Z:-0.05 [[ 9.99916083e-01 -1.29548161e-02 0.00000000e+00 9.62656080e+01] [ 1.29548161e-02 9.99916083e-01 0.00000000e+00 -8.17280005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90335751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:-0.82, Z:-0.05 [[ 9.99956598e-01 -9.31681696e-03 0.00000000e+00 9.63263594e+01] [ 9.31681696e-03 9.99956598e-01 0.00000000e+00 -8.24404953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02311146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.39, Y:-0.82, Z:-0.05 [[ 9.99999019e-01 1.40041276e-03 0.00000000e+00 9.63867120e+01] [-1.40041276e-03 9.99999019e-01 0.00000000e+00 -8.24257769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.24011370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.45, Y:-0.82, Z:-0.05 [[ 9.99966660e-01 8.16572240e-03 0.00000000e+00 9.64467582e+01] [-8.16572240e-03 9.99966660e-01 0.00000000e+00 -8.16903924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05958980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.51, Y:-0.82, Z:-0.05 [[ 9.99848848e-01 1.73862565e-02 0.00000000e+00 9.65076633e+01] [-1.73862565e-02 9.99848848e-01 0.00000000e+00 -8.15002498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02360806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.57, Y:-0.81, Z:-0.05 [[ 9.99781383e-01 2.09090109e-02 0.00000000e+00 9.65682621e+01] [-2.09090109e-02 9.99781383e-01 0.00000000e+00 -8.07894512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12607717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.63, Y:-0.80, Z:-0.05 [[ 9.99768167e-01 2.15316362e-02 0.00000000e+00 9.66292436e+01] [-2.15316362e-02 9.99768167e-01 0.00000000e+00 -8.03012775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13127200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.69, Y:-0.79, Z:-0.05 [[ 9.99782276e-01 2.08662348e-02 0.00000000e+00 9.66896590e+01] [-2.08662348e-02 9.99782276e-01 0.00000000e+00 -7.91989456e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19562523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:-0.78, Z:-0.05 [[ 9.99767374e-01 2.15684346e-02 0.00000000e+00 9.67500813e+01] [-2.15684346e-02 9.99767374e-01 0.00000000e+00 -7.80521822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97228750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:-0.77, Z:-0.05 [[ 9.99775249e-01 2.12002580e-02 0.00000000e+00 9.68102761e+01] [-2.12002580e-02 9.99775249e-01 0.00000000e+00 -7.72183697e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.11988800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.87, Y:-0.76, Z:-0.05 [[ 9.99823439e-01 1.87907226e-02 0.00000000e+00 9.68699618e+01] [-1.87907226e-02 9.99823439e-01 0.00000000e+00 -7.64995287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91673852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:-0.77, Z:-0.04 [[ 9.99952356e-01 9.76148660e-03 0.00000000e+00 9.69300744e+01] [-9.76148660e-03 9.99952356e-01 0.00000000e+00 -7.69934208e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.75948515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:-0.77, Z:-0.04 [[ 9.99999825e-01 5.91256799e-04 0.00000000e+00 9.69907002e+01] [-5.91256799e-04 9.99999825e-01 0.00000000e+00 -7.65863414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61438292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.05, Y:-0.77, Z:-0.03 [[ 9.99999792e-01 -6.44375590e-04 0.00000000e+00 9.70517062e+01] [ 6.44375590e-04 9.99999792e-01 0.00000000e+00 -7.66634560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07102376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:-0.77, Z:-0.04 [[ 9.99999757e-01 6.97759420e-04 0.00000000e+00 9.71122104e+01] [-6.97759420e-04 9.99999757e-01 0.00000000e+00 -7.67424353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53066289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:-0.77, Z:-0.05 [[ 9.99999584e-01 9.12661652e-04 0.00000000e+00 9.71727720e+01] [-9.12661652e-04 9.99999584e-01 0.00000000e+00 -7.68476139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07382589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:-0.78, Z:-0.05 [[ 9.99991102e-01 -4.21860139e-03 0.00000000e+00 9.72331177e+01] [ 4.21860139e-03 9.99991102e-01 0.00000000e+00 -7.76534468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.96305918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.29, Y:-0.78, Z:-0.05 [[ 9.99957073e-01 -9.26568877e-03 0.00000000e+00 9.72936925e+01] [ 9.26568877e-03 9.99957073e-01 0.00000000e+00 -7.78157981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77028704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.35, Y:-0.78, Z:-0.03 [[ 9.99989195e-01 -4.64873143e-03 0.00000000e+00 9.73541511e+01] [ 4.64873143e-03 9.99989195e-01 0.00000000e+00 -7.77870681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42552755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.41, Y:-0.78, Z:-0.05 [[ 9.99999950e-01 3.17108524e-04 0.00000000e+00 9.74146421e+01] [-3.17108524e-04 9.99999950e-01 0.00000000e+00 -7.75570428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59818439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:-0.78, Z:-0.05 [[ 9.99999981e-01 1.93475474e-04 0.00000000e+00 9.74755022e+01] [-1.93475474e-04 9.99999981e-01 0.00000000e+00 -7.78558876e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57355714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:-0.78, Z:-0.04 [[ 9.99999647e-01 -8.40146208e-04 0.00000000e+00 9.75358381e+01] [ 8.40146208e-04 9.99999647e-01 0.00000000e+00 -7.80833735e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49444585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.60, Y:-0.78, Z:-0.04 [[ 9.99999963e-01 2.72419755e-04 0.00000000e+00 9.75965752e+01] [-2.72419755e-04 9.99999963e-01 0.00000000e+00 -7.76770775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35927089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.66, Y:-0.78, Z:-0.02 [[ 9.99988449e-01 4.80645570e-03 0.00000000e+00 9.76575755e+01] [-4.80645570e-03 9.99988449e-01 0.00000000e+00 -7.78911226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48287394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.72, Y:-0.78, Z:-0.04 [[ 9.99990844e-01 4.27930135e-03 0.00000000e+00 9.77176420e+01] [-4.27930135e-03 9.99990844e-01 0.00000000e+00 -7.81252939e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31795595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.262320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:97.78, Y:-0.78, Z:-0.03 [[ 9.99985306e-01 5.42102992e-03 0.00000000e+00 9.77781812e+01] [-5.42102992e-03 9.99985306e-01 0.00000000e+00 -7.78206936e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73438131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.84, Y:-0.78, Z:-0.04 [[ 9.99987850e-01 4.92951158e-03 0.00000000e+00 9.78379946e+01] [-4.92951158e-03 9.99987850e-01 0.00000000e+00 -7.78551193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24634125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.90, Y:-0.78, Z:-0.03 [[ 9.99968124e-01 7.98445475e-03 0.00000000e+00 9.78981967e+01] [-7.98445475e-03 9.99968124e-01 0.00000000e+00 -7.77141393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56812802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.96, Y:-0.78, Z:-0.04 [[ 9.99964213e-01 8.46009498e-03 0.00000000e+00 9.79581888e+01] [-8.46009498e-03 9.99964213e-01 0.00000000e+00 -7.75502296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41184438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.02, Y:-0.78, Z:-0.04 [[ 9.99999536e-01 9.63831121e-04 0.00000000e+00 9.80184765e+01] [-9.63831121e-04 9.99999536e-01 0.00000000e+00 -7.79554666e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36289864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.08, Y:-0.78, Z:-0.05 [[ 9.99968952e-01 -7.88008176e-03 0.00000000e+00 9.80787420e+01] [ 7.88008176e-03 9.99968952e-01 0.00000000e+00 -7.80568470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68003076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.14, Y:-0.78, Z:-0.04 [[ 9.99942434e-01 -1.07297633e-02 0.00000000e+00 9.81387955e+01] [ 1.07297633e-02 9.99942434e-01 0.00000000e+00 -7.82785635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44276184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.20, Y:-0.79, Z:-0.05 [[ 9.99896433e-01 -1.43918015e-02 0.00000000e+00 9.81991041e+01] [ 1.43918015e-02 9.99896433e-01 0.00000000e+00 -7.89135790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65486175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.26, Y:-0.80, Z:-0.05 [[ 9.99751570e-01 -2.22889905e-02 0.00000000e+00 9.82599864e+01] [ 2.22889905e-02 9.99751570e-01 0.00000000e+00 -8.04611050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73085273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.32, Y:-0.81, Z:-0.03 [[ 9.99768598e-01 -2.15116428e-02 0.00000000e+00 9.83203420e+01] [ 2.15116428e-02 9.99768598e-01 0.00000000e+00 -8.09086563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24029916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.38, Y:-0.81, Z:-0.03 [[ 9.99876675e-01 -1.57046423e-02 0.00000000e+00 9.83805938e+01] [ 1.57046423e-02 9.99876675e-01 0.00000000e+00 -8.11175455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28228083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.44, Y:-0.82, Z:-0.05 [[ 9.99871032e-01 -1.60598436e-02 0.00000000e+00 9.84411010e+01] [ 1.60598436e-02 9.99871032e-01 0.00000000e+00 -8.22975818e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87777101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:-0.83, Z:-0.03 [[ 9.99934784e-01 -1.14205245e-02 0.00000000e+00 9.85006193e+01] [ 1.14205245e-02 9.99934784e-01 0.00000000e+00 -8.26952335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96976484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.56, Y:-0.82, Z:-0.05 [[ 9.99958208e-01 -9.14230186e-03 0.00000000e+00 9.85606003e+01] [ 9.14230186e-03 9.99958208e-01 0.00000000e+00 -8.22688638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.75587527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.62, Y:-0.83, Z:-0.04 [[ 9.99998325e-01 -1.83034055e-03 0.00000000e+00 9.86213945e+01] [ 1.83034055e-03 9.99998325e-01 0.00000000e+00 -8.25274228e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51519122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.68, Y:-0.83, Z:-0.05 [[ 9.99999944e-01 3.35213144e-04 0.00000000e+00 9.86815590e+01] [-3.35213144e-04 9.99999944e-01 0.00000000e+00 -8.28110316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65161971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.74, Y:-0.83, Z:-0.05 [[ 9.99999198e-01 1.26611941e-03 0.00000000e+00 9.87421292e+01] [-1.26611941e-03 9.99999198e-01 0.00000000e+00 -8.34943412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15694426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.80, Y:-0.84, Z:-0.05 [[ 9.99991312e-01 4.16855099e-03 0.00000000e+00 9.88025836e+01] [-4.16855099e-03 9.99991312e-01 0.00000000e+00 -8.37577643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52969864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.86, Y:-0.83, Z:-0.04 [[ 9.99904739e-01 1.38026441e-02 0.00000000e+00 9.88634039e+01] [-1.38026441e-02 9.99904739e-01 0.00000000e+00 -8.30626351e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28698276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:98.92, Y:-0.83, Z:-0.05 [[ 9.99773985e-01 2.12597929e-02 0.00000000e+00 9.89246147e+01] [-2.12597929e-02 9.99773985e-01 0.00000000e+00 -8.29025837e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54033562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:-0.83, Z:-0.05 [[ 9.99683906e-01 2.51413719e-02 0.00000000e+00 9.89856929e+01] [-2.51413719e-02 9.99683906e-01 0.00000000e+00 -8.26470515e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65913396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.05, Y:-0.82, Z:-0.05 [[ 9.99819244e-01 1.90126046e-02 0.00000000e+00 9.90466388e+01] [-1.90126046e-02 9.99819244e-01 0.00000000e+00 -8.20199346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62621770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:-0.80, Z:-0.05 [[ 9.99953779e-01 9.61454759e-03 0.00000000e+00 9.91074554e+01] [-9.61454759e-03 9.99953779e-01 0.00000000e+00 -8.02758001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93228077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.17, Y:-0.80, Z:-0.05 [[ 9.99920047e-01 1.26451680e-02 0.00000000e+00 9.91682470e+01] [-1.26451680e-02 9.99920047e-01 0.00000000e+00 -8.00869577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53470172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:-0.80, Z:-0.04 [[ 9.99892751e-01 1.46453238e-02 0.00000000e+00 9.92283682e+01] [-1.46453238e-02 9.99892751e-01 0.00000000e+00 -7.98413388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38866268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:-0.80, Z:-0.04 [[ 9.99855251e-01 1.70140221e-02 0.00000000e+00 9.92892812e+01] [-1.70140221e-02 9.99855251e-01 0.00000000e+00 -7.97593803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49249508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:-0.80, Z:-0.04 [[ 9.99826848e-01 1.86084356e-02 0.00000000e+00 9.93494431e+01] [-1.86084356e-02 9.99826848e-01 0.00000000e+00 -7.97313882e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44108757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.41, Y:-0.79, Z:-0.05 [[ 9.99796429e-01 2.01767174e-02 0.00000000e+00 9.94098261e+01] [-2.01767174e-02 9.99796429e-01 0.00000000e+00 -7.93406183e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58800832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.47, Y:-0.79, Z:-0.05 [[ 9.99789248e-01 2.05295034e-02 0.00000000e+00 9.94700592e+01] [-2.05295034e-02 9.99789248e-01 0.00000000e+00 -7.91585762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58388243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.53, Y:-0.79, Z:-0.04 [[ 9.99795079e-01 2.02434939e-02 0.00000000e+00 9.95300981e+01] [-2.02434939e-02 9.99795079e-01 0.00000000e+00 -7.91246160e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44781159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.59, Y:-0.79, Z:-0.04 [[ 9.99797293e-01 2.01338658e-02 0.00000000e+00 9.95910040e+01] [-2.01338658e-02 9.99797293e-01 0.00000000e+00 -7.89561680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44225756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.65, Y:-0.78, Z:-0.04 [[ 9.99803735e-01 1.98114071e-02 0.00000000e+00 9.96514441e+01] [-1.98114071e-02 9.99803735e-01 0.00000000e+00 -7.81712365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.24292043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.71, Y:-0.78, Z:-0.04 [[ 9.99809214e-01 1.95329156e-02 0.00000000e+00 9.97121394e+01] [-1.95329156e-02 9.99809214e-01 0.00000000e+00 -7.78228031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12244081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.77, Y:-0.78, Z:-0.04 [[ 9.99817423e-01 1.91081558e-02 0.00000000e+00 9.97725465e+01] [-1.91081558e-02 9.99817423e-01 0.00000000e+00 -7.76735483e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10633065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:-0.78, Z:-0.04 [[ 9.99862917e-01 1.65574002e-02 0.00000000e+00 9.98332624e+01] [-1.65574002e-02 9.99862917e-01 0.00000000e+00 -7.75257600e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45830755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:-0.77, Z:-0.05 [[ 9.99906353e-01 1.36852238e-02 0.00000000e+00 9.98936863e+01] [-1.36852238e-02 9.99906353e-01 0.00000000e+00 -7.68387871e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69958759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:-0.76, Z:-0.04 [[ 9.99927438e-01 1.20465400e-02 0.00000000e+00 9.99545622e+01] [-1.20465400e-02 9.99927438e-01 0.00000000e+00 -7.58047578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27340445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.01, Y:-0.76, Z:-0.05 [[ 9.99956781e-01 9.29705467e-03 0.00000000e+00 1.00014871e+02] [-9.29705467e-03 9.99956781e-01 0.00000000e+00 -7.55886056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62153708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.08, Y:-0.75, Z:-0.05 [[ 9.99979170e-01 6.45437618e-03 0.00000000e+00 1.00075371e+02] [-6.45437618e-03 9.99979170e-01 0.00000000e+00 -7.50343048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67159538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.14, Y:-0.75, Z:-0.04 [[ 9.99991617e-01 4.09474360e-03 0.00000000e+00 1.00135710e+02] [-4.09474360e-03 9.99991617e-01 0.00000000e+00 -7.48977593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43123601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:-0.74, Z:-0.05 [[ 9.99999747e-01 -7.11142149e-04 0.00000000e+00 1.00196145e+02] [ 7.11142149e-04 9.99999747e-01 0.00000000e+00 -7.38583504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55536775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.26, Y:-0.75, Z:-0.05 [[ 9.99997890e-01 -2.05427929e-03 0.00000000e+00 1.00256255e+02] [ 2.05427929e-03 9.99997890e-01 0.00000000e+00 -7.45419381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.68981632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:100.32, Y:-0.75, Z:-0.04 [[ 9.99991917e-01 -4.02076316e-03 0.00000000e+00 1.00316925e+02] [ 4.02076316e-03 9.99991917e-01 0.00000000e+00 -7.45016410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33111859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.38, Y:-0.75, Z:-0.04 [[ 9.99996564e-01 -2.62150039e-03 0.00000000e+00 1.00377352e+02] [ 2.62150039e-03 9.99996564e-01 0.00000000e+00 -7.46180005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22689093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.44, Y:-0.75, Z:-0.04 [[ 9.99997593e-01 -2.19393389e-03 0.00000000e+00 1.00437510e+02] [ 2.19393389e-03 9.99997593e-01 0.00000000e+00 -7.49518968e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.25776007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.50, Y:-0.75, Z:-0.04 [[ 9.99999742e-01 -7.18043536e-04 0.00000000e+00 1.00498419e+02] [ 7.18043536e-04 9.99999742e-01 0.00000000e+00 -7.51852115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42352796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.022320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:100.56, Y:-0.76, Z:-0.04 [[ 9.99997328e-01 -2.31167175e-03 0.00000000e+00 1.00558493e+02] [ 2.31167175e-03 9.99997328e-01 0.00000000e+00 -7.55547170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21987606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.62, Y:-0.76, Z:-0.04 [[ 9.99986811e-01 -5.13592000e-03 0.00000000e+00 1.00618519e+02] [ 5.13592000e-03 9.99986811e-01 0.00000000e+00 -7.59949517e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13370073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.68, Y:-0.77, Z:-0.04 [[ 9.99991498e-01 -4.12365224e-03 0.00000000e+00 1.00679580e+02] [ 4.12365224e-03 9.99991498e-01 0.00000000e+00 -7.68293520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48359907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:100.74, Y:-0.77, Z:-0.04 [[ 9.99996796e-01 -2.53120504e-03 0.00000000e+00 1.00739718e+02] [ 2.53120504e-03 9.99996796e-01 0.00000000e+00 -7.71666300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.46287307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.80, Y:-0.77, Z:-0.04 [[ 9.99995776e-01 2.90647051e-03 0.00000000e+00 1.00800462e+02] [-2.90647051e-03 9.99995776e-01 0.00000000e+00 -7.67565204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49719587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.86, Y:-0.76, Z:-0.04 [[ 9.99965668e-01 8.28635234e-03 0.00000000e+00 1.00860536e+02] [-8.28635234e-03 9.99965668e-01 0.00000000e+00 -7.63164071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28893091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.92, Y:-0.75, Z:-0.04 [[ 9.99915944e-01 1.29655007e-02 0.00000000e+00 1.00920709e+02] [-1.29655007e-02 9.99915944e-01 0.00000000e+00 -7.54398870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21100018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:-0.75, Z:-0.04 [[ 9.99937188e-01 1.12080197e-02 0.00000000e+00 1.00981210e+02] [-1.12080197e-02 9.99937188e-01 0.00000000e+00 -7.51371094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37006558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.04, Y:-0.75, Z:-0.04 [[ 9.99994466e-01 3.32687458e-03 0.00000000e+00 1.01041587e+02] [-3.32687458e-03 9.99994466e-01 0.00000000e+00 -7.52323074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33515444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.10, Y:-0.75, Z:-0.04 [[ 9.99999845e-01 -5.56967501e-04 0.00000000e+00 1.01101752e+02] [ 5.56967501e-04 9.99999845e-01 0.00000000e+00 -7.54159277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08259178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.16, Y:-0.75, Z:-0.04 [[ 9.99998546e-01 -1.70511058e-03 0.00000000e+00 1.01162297e+02] [ 1.70511058e-03 9.99998546e-01 0.00000000e+00 -7.48140378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05873494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.22, Y:-0.75, Z:-0.02 [[ 9.99997571e-01 2.20400019e-03 0.00000000e+00 1.01223319e+02] [-2.20400019e-03 9.99997571e-01 0.00000000e+00 -7.46987710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43647061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.28, Y:-0.75, Z:-0.04 [[ 9.99990787e-01 4.29244582e-03 0.00000000e+00 1.01283277e+02] [-4.29244582e-03 9.99990787e-01 0.00000000e+00 -7.51053375e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07745744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.34, Y:-0.75, Z:-0.04 [[ 9.99982754e-01 5.87291634e-03 0.00000000e+00 1.01343243e+02] [-5.87291634e-03 9.99982754e-01 0.00000000e+00 -7.47708067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84820152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:-0.74, Z:-0.04 [[ 9.99994459e-01 3.32902939e-03 0.00000000e+00 1.01403297e+02] [-3.32902939e-03 9.99994459e-01 0.00000000e+00 -7.43950937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98585912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.46, Y:-0.74, Z:-0.04 [[ 9.99998365e-01 1.80803714e-03 0.00000000e+00 1.01463839e+02] [-1.80803714e-03 9.99998365e-01 0.00000000e+00 -7.44770188e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01769042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.52, Y:-0.75, Z:-0.04 [[ 9.99999936e-01 3.56866622e-04 0.00000000e+00 1.01524450e+02] [-3.56866622e-04 9.99999936e-01 0.00000000e+00 -7.49717001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76605887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.59, Y:-0.75, Z:-0.03 [[ 9.99998208e-01 -1.89330199e-03 0.00000000e+00 1.01585300e+02] [ 1.89330199e-03 9.99998208e-01 0.00000000e+00 -7.45005173e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87340832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.65, Y:-0.75, Z:-0.04 [[ 9.99987633e-01 -4.97337270e-03 0.00000000e+00 1.01646189e+02] [ 4.97337270e-03 9.99987633e-01 0.00000000e+00 -7.48725620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31286113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.71, Y:-0.75, Z:-0.04 [[ 9.99998576e-01 1.68758736e-03 0.00000000e+00 1.01706257e+02] [-1.68758736e-03 9.99998576e-01 0.00000000e+00 -7.52838822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31974851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.77, Y:-0.75, Z:-0.04 [[ 9.99966899e-01 8.13635689e-03 0.00000000e+00 1.01767169e+02] [-8.13635689e-03 9.99966899e-01 0.00000000e+00 -7.52190250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90457057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.83, Y:-0.75, Z:-0.04 [[ 9.99910648e-01 1.33677307e-02 0.00000000e+00 1.01827293e+02] [-1.33677307e-02 9.99910648e-01 0.00000000e+00 -7.51920827e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89182490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.89, Y:-0.76, Z:-0.04 [[ 9.99773400e-01 2.12873118e-02 0.00000000e+00 1.01887584e+02] [-2.12873118e-02 9.99773400e-01 0.00000000e+00 -7.57172432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47458779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.95, Y:-0.76, Z:-0.04 [[ 9.99706654e-01 2.42199521e-02 0.00000000e+00 1.01947580e+02] [-2.42199521e-02 9.99706654e-01 0.00000000e+00 -7.60156681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23645821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.01, Y:-0.76, Z:-0.03 [[ 9.99548253e-01 3.00547688e-02 0.00000000e+00 1.02008340e+02] [-3.00547688e-02 9.99548253e-01 0.00000000e+00 -7.55682200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55532072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.07, Y:-0.75, Z:-0.04 [[ 9.99417446e-01 3.41287127e-02 0.00000000e+00 1.02068311e+02] [-3.41287127e-02 9.99417446e-01 0.00000000e+00 -7.54377170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39077508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.13, Y:-0.75, Z:-0.04 [[ 9.99283892e-01 3.78378644e-02 0.00000000e+00 1.02128325e+02] [-3.78378644e-02 9.99283892e-01 0.00000000e+00 -7.48682607e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18124890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.19, Y:-0.73, Z:-0.04 [[ 9.99239572e-01 3.89907475e-02 0.00000000e+00 1.02188275e+02] [-3.89907475e-02 9.99239572e-01 0.00000000e+00 -7.31930124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16118581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.25, Y:-0.73, Z:-0.04 [[ 9.99318258e-01 3.69190837e-02 0.00000000e+00 1.02247010e+02] [-3.69190837e-02 9.99318258e-01 0.00000000e+00 -7.28558153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37434438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:102.31, Y:-0.73, Z:-0.03 [[ 9.99569191e-01 2.93501758e-02 0.00000000e+00 1.02306189e+02] [-2.93501758e-02 9.99569191e-01 0.00000000e+00 -7.25092574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27471300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.36, Y:-0.72, Z:-0.04 [[ 9.99746119e-01 2.25321340e-02 0.00000000e+00 1.02364570e+02] [-2.25321340e-02 9.99746119e-01 0.00000000e+00 -7.23545334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.22445878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.42, Y:-0.72, Z:-0.04 [[ 9.99863972e-01 1.64935485e-02 0.00000000e+00 1.02424572e+02] [-1.64935485e-02 9.99863972e-01 0.00000000e+00 -7.22277137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10147952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.48, Y:-0.72, Z:-0.04 [[ 9.99898373e-01 1.42563517e-02 0.00000000e+00 1.02483877e+02] [-1.42563517e-02 9.99898373e-01 0.00000000e+00 -7.16432220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13677004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.54, Y:-0.71, Z:-0.04 [[ 9.99863687e-01 1.65108032e-02 0.00000000e+00 1.02543204e+02] [-1.65108032e-02 9.99863687e-01 0.00000000e+00 -7.13768669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16577448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.60, Y:-0.71, Z:-0.04 [[ 9.99880969e-01 1.54287883e-02 0.00000000e+00 1.02602659e+02] [-1.54287883e-02 9.99880969e-01 0.00000000e+00 -7.12300711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96664691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.66, Y:-0.71, Z:-0.04 [[ 9.99932872e-01 1.15867282e-02 0.00000000e+00 1.02661931e+02] [-1.15867282e-02 9.99932872e-01 0.00000000e+00 -7.14559589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.97456424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.72, Y:-0.71, Z:-0.04 [[ 9.99990824e-01 4.28381936e-03 0.00000000e+00 1.02721152e+02] [-4.28381936e-03 9.99990824e-01 0.00000000e+00 -7.07917490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31708689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.78, Y:-0.71, Z:-0.04 [[ 9.99998298e-01 1.84507269e-03 0.00000000e+00 1.02781841e+02] [-1.84507269e-03 9.99998298e-01 0.00000000e+00 -7.13130819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36509557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.84, Y:-0.71, Z:-0.04 [[ 9.99999013e-01 1.40471902e-03 0.00000000e+00 1.02841971e+02] [-1.40471902e-03 9.99999013e-01 0.00000000e+00 -7.08875310e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14201598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.90, Y:-0.71, Z:-0.04 [[ 9.99999324e-01 -1.16309887e-03 0.00000000e+00 1.02902877e+02] [ 1.16309887e-03 9.99999324e-01 0.00000000e+00 -7.09943340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.13294974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.96, Y:-0.72, Z:-0.04 [[ 9.99991362e-01 -4.15646231e-03 0.00000000e+00 1.02963141e+02] [ 4.15646231e-03 9.99991362e-01 0.00000000e+00 -7.16744357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06523742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.02, Y:-0.72, Z:-0.04 [[ 9.99986651e-01 -5.16698980e-03 0.00000000e+00 1.03023400e+02] [ 5.16698980e-03 9.99986651e-01 0.00000000e+00 -7.17892261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04667004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.08, Y:-0.73, Z:-0.04 [[ 9.99966529e-01 -8.18173625e-03 0.00000000e+00 1.03083717e+02] [ 8.18173625e-03 9.99966529e-01 0.00000000e+00 -7.28248789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.84091669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.602320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:103.14, Y:-0.73, Z:-0.04 [[ 9.99956541e-01 -9.32285490e-03 0.00000000e+00 1.03144454e+02] [ 9.32285490e-03 9.99956541e-01 0.00000000e+00 -7.30607803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62902975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.21, Y:-0.74, Z:-0.04 [[ 9.99941432e-01 -1.08227957e-02 0.00000000e+00 1.03205107e+02] [ 1.08227957e-02 9.99941432e-01 0.00000000e+00 -7.44894305e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.01024974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.27, Y:-0.75, Z:-0.04 [[ 9.99910675e-01 -1.33657344e-02 0.00000000e+00 1.03265426e+02] [ 1.33657344e-02 9.99910675e-01 0.00000000e+00 -7.49585535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90623236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.33, Y:-0.76, Z:-0.04 [[ 9.99870632e-01 -1.60847541e-02 0.00000000e+00 1.03325536e+02] [ 1.60847541e-02 9.99870632e-01 0.00000000e+00 -7.60920769e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70884964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.39, Y:-0.77, Z:-0.04 [[ 9.99791425e-01 -2.04231970e-02 0.00000000e+00 1.03385697e+02] [ 2.04231970e-02 9.99791425e-01 0.00000000e+00 -7.70458280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94916730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.45, Y:-0.78, Z:-0.04 [[ 9.99698119e-01 -2.45697102e-02 0.00000000e+00 1.03446693e+02] [ 2.45697102e-02 9.99698119e-01 0.00000000e+00 -7.80567760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96390486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.51, Y:-0.80, Z:-0.04 [[ 9.99701071e-01 -2.44493085e-02 0.00000000e+00 1.03506922e+02] [ 2.44493085e-02 9.99701071e-01 0.00000000e+00 -7.95047993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68498265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.57, Y:-0.80, Z:-0.04 [[ 9.99843184e-01 -1.77089509e-02 0.00000000e+00 1.03567031e+02] [ 1.77089509e-02 9.99843184e-01 0.00000000e+00 -7.98970883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.99217721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.63, Y:-0.81, Z:-0.04 [[ 9.99870088e-01 -1.61185399e-02 0.00000000e+00 1.03627126e+02] [ 1.61185399e-02 9.99870088e-01 0.00000000e+00 -8.08735356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.92138878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.69, Y:-0.82, Z:-0.03 [[ 9.99843071e-01 -1.77153479e-02 0.00000000e+00 1.03686537e+02] [ 1.77153479e-02 9.99843071e-01 0.00000000e+00 -8.19918589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28380346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.75, Y:-0.82, Z:-0.04 [[ 9.99891348e-01 -1.47408081e-02 0.00000000e+00 1.03745936e+02] [ 1.47408081e-02 9.99891348e-01 0.00000000e+00 -8.18000663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53260886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.81, Y:-0.82, Z:-0.04 [[ 9.99953851e-01 -9.60704858e-03 0.00000000e+00 1.03805964e+02] [ 9.60704858e-03 9.99953851e-01 0.00000000e+00 -8.18912844e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05791222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.87, Y:-0.83, Z:-0.04 [[ 9.99982771e-01 -5.87010930e-03 0.00000000e+00 1.03865689e+02] [ 5.87010930e-03 9.99982771e-01 0.00000000e+00 -8.30802752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83193251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:-0.84, Z:-0.03 [[ 9.99991557e-01 -4.10925485e-03 0.00000000e+00 1.03926420e+02] [ 4.10925485e-03 9.99991557e-01 0.00000000e+00 -8.37169929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44644857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:-0.83, Z:-0.04 [[ 9.99991884e-01 4.02888219e-03 0.00000000e+00 1.03987047e+02] [-4.02888219e-03 9.99991884e-01 0.00000000e+00 -8.30824910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98753800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.05, Y:-0.83, Z:-0.04 [[ 9.99859271e-01 1.67761147e-02 0.00000000e+00 1.04047427e+02] [-1.67761147e-02 9.99859271e-01 0.00000000e+00 -8.28885047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95007962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:-0.83, Z:-0.04 [[ 9.99799181e-01 2.00399241e-02 0.00000000e+00 1.04108548e+02] [-2.00399241e-02 9.99799181e-01 0.00000000e+00 -8.31403975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70956560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.17, Y:-0.83, Z:-0.04 [[ 9.99817386e-01 1.91100525e-02 0.00000000e+00 1.04169753e+02] [-1.91100525e-02 9.99817386e-01 0.00000000e+00 -8.34163495e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76532642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:-0.83, Z:-0.04 [[ 9.99801886e-01 1.99044725e-02 0.00000000e+00 1.04231099e+02] [-1.99044725e-02 9.99801886e-01 0.00000000e+00 -8.34772820e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77195367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:-0.83, Z:-0.04 [[ 9.99704636e-01 2.43030894e-02 0.00000000e+00 1.04292853e+02] [-2.43030894e-02 9.99704636e-01 0.00000000e+00 -8.30183412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57905386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:-0.83, Z:-0.04 [[ 9.99593531e-01 2.85091679e-02 0.00000000e+00 1.04353704e+02] [-2.85091679e-02 9.99593531e-01 0.00000000e+00 -8.27774170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60622594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.42, Y:-0.82, Z:-0.04 [[ 9.99569370e-01 2.93440801e-02 0.00000000e+00 1.04415364e+02] [-2.93440801e-02 9.99569370e-01 0.00000000e+00 -8.24714046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59584321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.48, Y:-0.82, Z:-0.04 [[ 9.99612331e-01 2.78421873e-02 0.00000000e+00 1.04477338e+02] [-2.78421873e-02 9.99612331e-01 0.00000000e+00 -8.17370932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50574012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.54, Y:-0.82, Z:-0.04 [[ 9.99753750e-01 2.21909637e-02 0.00000000e+00 1.04538500e+02] [-2.21909637e-02 9.99753750e-01 0.00000000e+00 -8.17666755e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.77089253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.60, Y:-0.82, Z:-0.04 [[ 9.99908888e-01 1.34987640e-02 0.00000000e+00 1.04600150e+02] [-1.34987640e-02 9.99908888e-01 0.00000000e+00 -8.17580570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64859601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.66, Y:-0.82, Z:-0.04 [[ 9.99983408e-01 5.76053402e-03 0.00000000e+00 1.04661344e+02] [-5.76053402e-03 9.99983408e-01 0.00000000e+00 -8.20664621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73880376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.72, Y:-0.82, Z:-0.04 [[ 9.99998186e-01 1.90450937e-03 0.00000000e+00 1.04721707e+02] [-1.90450937e-03 9.99998186e-01 0.00000000e+00 -8.20924620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76220282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.78, Y:-0.82, Z:-0.03 [[ 9.99999878e-01 4.94705087e-04 0.00000000e+00 1.04782125e+02] [-4.94705087e-04 9.99999878e-01 0.00000000e+00 -8.23626753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35047311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.84, Y:-0.83, Z:-0.03 [[ 9.99999629e-01 8.61024061e-04 0.00000000e+00 1.04842788e+02] [-8.61024061e-04 9.99999629e-01 0.00000000e+00 -8.31799247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40962770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.90, Y:-0.83, Z:-0.04 [[ 9.99999429e-01 1.06874578e-03 0.00000000e+00 1.04903248e+02] [-1.06874578e-03 9.99999429e-01 0.00000000e+00 -8.33104354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55724800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.96, Y:-0.84, Z:-0.04 [[ 9.99997902e-01 2.04840696e-03 0.00000000e+00 1.04963375e+02] [-2.04840696e-03 9.99997902e-01 0.00000000e+00 -8.35521887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65062408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.02, Y:-0.84, Z:-0.02 [[ 9.99954351e-01 9.55490320e-03 0.00000000e+00 1.05024659e+02] [-9.55490320e-03 9.99954351e-01 0.00000000e+00 -8.38759022e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91449082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.09, Y:-0.84, Z:-0.04 [[ 9.99921505e-01 1.25293326e-02 0.00000000e+00 1.05085594e+02] [-1.25293326e-02 9.99921505e-01 0.00000000e+00 -8.35295809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57568305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.15, Y:-0.83, Z:-0.04 [[ 9.99810804e-01 1.94513563e-02 0.00000000e+00 1.05146905e+02] [-1.94513563e-02 9.99810804e-01 0.00000000e+00 -8.34208364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63846102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.21, Y:-0.83, Z:-0.04 [[ 9.99781797e-01 2.08892150e-02 0.00000000e+00 1.05208250e+02] [-2.08892150e-02 9.99781797e-01 0.00000000e+00 -8.34495698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67012979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.27, Y:-0.83, Z:-0.04 [[ 9.99842809e-01 1.77301289e-02 0.00000000e+00 1.05269943e+02] [-1.77301289e-02 9.99842809e-01 0.00000000e+00 -8.31076437e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61461964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.33, Y:-0.83, Z:-0.04 [[ 9.99848674e-01 1.73962570e-02 0.00000000e+00 1.05331396e+02] [-1.73962570e-02 9.99848674e-01 0.00000000e+00 -8.26268177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63320042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.39, Y:-0.82, Z:-0.03 [[ 9.99781696e-01 2.08940080e-02 0.00000000e+00 1.05392946e+02] [-2.08940080e-02 9.99781696e-01 0.00000000e+00 -8.17907213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31577714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.45, Y:-0.82, Z:-0.03 [[ 9.99701540e-01 2.44301197e-02 0.00000000e+00 1.05454507e+02] [-2.44301197e-02 9.99701540e-01 0.00000000e+00 -8.15507978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47672213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.52, Y:-0.81, Z:-0.04 [[ 9.99673504e-01 2.55516107e-02 0.00000000e+00 1.05515646e+02] [-2.55516107e-02 9.99673504e-01 0.00000000e+00 -8.10199131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88307963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.58, Y:-0.80, Z:-0.04 [[ 9.99714443e-01 2.38962917e-02 0.00000000e+00 1.05576867e+02] [-2.38962917e-02 9.99714443e-01 0.00000000e+00 -8.00819441e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83387483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.64, Y:-0.79, Z:-0.04 [[ 9.99736919e-01 2.29367130e-02 0.00000000e+00 1.05637825e+02] [-2.29367130e-02 9.99736919e-01 0.00000000e+00 -7.92059576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50790930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.70, Y:-0.78, Z:-0.03 [[ 9.99782525e-01 2.08543395e-02 0.00000000e+00 1.05699365e+02] [-2.08543395e-02 9.99782525e-01 0.00000000e+00 -7.84514569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49983053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.76, Y:-0.77, Z:-0.04 [[ 9.99872587e-01 1.59627840e-02 0.00000000e+00 1.05759800e+02] [-1.59627840e-02 9.99872587e-01 0.00000000e+00 -7.73318389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96992272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.82, Y:-0.78, Z:-0.04 [[ 9.99930899e-01 1.17557240e-02 0.00000000e+00 1.05819856e+02] [-1.17557240e-02 9.99930899e-01 0.00000000e+00 -7.75838202e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68553282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.88, Y:-0.77, Z:-0.03 [[ 9.99971296e-01 7.57672436e-03 0.00000000e+00 1.05880058e+02] [-7.57672436e-03 9.99971296e-01 0.00000000e+00 -7.72480757e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43670603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.94, Y:-0.77, Z:-0.04 [[ 9.99975585e-01 6.98779189e-03 0.00000000e+00 1.05940091e+02] [-6.98779189e-03 9.99975585e-01 0.00000000e+00 -7.66551034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74987947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.00, Y:-0.77, Z:-0.04 [[ 9.99988875e-01 4.71706351e-03 0.00000000e+00 1.06000728e+02] [-4.71706351e-03 9.99988875e-01 0.00000000e+00 -7.67161522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.87632927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.06, Y:-0.78, Z:-0.04 [[ 9.99993379e-01 3.63888241e-03 0.00000000e+00 1.06061688e+02] [-3.63888241e-03 9.99993379e-01 0.00000000e+00 -7.75212772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85403542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.12, Y:-0.77, Z:-0.03 [[ 9.99982228e-01 5.96179724e-03 0.00000000e+00 1.06122145e+02] [-5.96179724e-03 9.99982228e-01 0.00000000e+00 -7.67854535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42176358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.18, Y:-0.76, Z:-0.03 [[ 9.99964147e-01 8.46781110e-03 0.00000000e+00 1.06182342e+02] [-8.46781110e-03 9.99964147e-01 0.00000000e+00 -7.63499242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41912300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:-0.76, Z:-0.04 [[ 9.99907128e-01 1.36284464e-02 0.00000000e+00 1.06243147e+02] [-1.36284464e-02 9.99907128e-01 0.00000000e+00 -7.62491126e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62052528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.30, Y:-0.76, Z:-0.04 [[ 9.99862276e-01 1.65960661e-02 0.00000000e+00 1.06303421e+02] [-1.65960661e-02 9.99862276e-01 0.00000000e+00 -7.59753063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69394466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.36, Y:-0.75, Z:-0.04 [[ 9.99843939e-01 1.76663128e-02 0.00000000e+00 1.06363499e+02] [-1.76663128e-02 9.99843939e-01 0.00000000e+00 -7.51823087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60663579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.42, Y:-0.74, Z:-0.03 [[ 9.99761899e-01 2.18207564e-02 0.00000000e+00 1.06424118e+02] [-2.18207564e-02 9.99761899e-01 0.00000000e+00 -7.38836244e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34841594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.48, Y:-0.73, Z:-0.03 [[ 9.99670982e-01 2.56501063e-02 0.00000000e+00 1.06484504e+02] [-2.56501063e-02 9.99670982e-01 0.00000000e+00 -7.33600719e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45108386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.54, Y:-0.72, Z:-0.04 [[ 9.99607560e-01 2.80129620e-02 0.00000000e+00 1.06543858e+02] [-2.80129620e-02 9.99607560e-01 0.00000000e+00 -7.22929557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54096881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.60, Y:-0.71, Z:-0.02 [[ 9.99631762e-01 2.71355864e-02 0.00000000e+00 1.06603140e+02] [-2.71355864e-02 9.99631762e-01 0.00000000e+00 -7.09961788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35421195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:-0.70, Z:-0.04 [[ 9.99535815e-01 3.04656147e-02 0.00000000e+00 1.06662952e+02] [-3.04656147e-02 9.99535815e-01 0.00000000e+00 -7.02469746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65828845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.72, Y:-0.69, Z:-0.03 [[ 9.99411608e-01 3.42992274e-02 0.00000000e+00 1.06722061e+02] [-3.42992274e-02 9.99411608e-01 0.00000000e+00 -6.89318533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41446449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.78, Y:-0.68, Z:-0.04 [[ 9.99392789e-01 3.48432570e-02 0.00000000e+00 1.06780421e+02] [-3.48432570e-02 9.99392789e-01 0.00000000e+00 -6.79293393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59027327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:-0.66, Z:-0.02 [[ 9.99394483e-01 3.47946324e-02 0.00000000e+00 1.06839218e+02] [-3.47946324e-02 9.99394483e-01 0.00000000e+00 -6.61735978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97261168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:-0.64, Z:-0.03 [[ 9.99322746e-01 3.67974007e-02 0.00000000e+00 1.06897531e+02] [-3.67974007e-02 9.99322746e-01 0.00000000e+00 -6.44832490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21243127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:-0.63, Z:-0.03 [[ 9.99391890e-01 3.48690429e-02 0.00000000e+00 1.06955054e+02] [-3.48690429e-02 9.99391890e-01 0.00000000e+00 -6.28152955e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34343069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.01, Y:-0.61, Z:-0.03 [[ 9.99568194e-01 2.93841193e-02 0.00000000e+00 1.07013972e+02] [-2.93841193e-02 9.99568194e-01 0.00000000e+00 -6.14704699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38099898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.07, Y:-0.60, Z:-0.03 [[ 9.99771382e-01 2.13818463e-02 0.00000000e+00 1.07072329e+02] [-2.13818463e-02 9.99771382e-01 0.00000000e+00 -6.00464943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19827847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.13, Y:-0.60, Z:-0.03 [[ 9.99910483e-01 1.33800764e-02 0.00000000e+00 1.07130659e+02] [-1.33800764e-02 9.99910483e-01 0.00000000e+00 -5.97010921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30329758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.19, Y:-0.60, Z:-0.03 [[ 9.99985032e-01 5.47128297e-03 0.00000000e+00 1.07189555e+02] [-5.47128297e-03 9.99985032e-01 0.00000000e+00 -5.96704711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49490565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.25, Y:-0.60, Z:-0.03 [[ 9.99990675e-01 -4.31850746e-03 0.00000000e+00 1.07249528e+02] [ 4.31850746e-03 9.99990675e-01 0.00000000e+00 -5.99077300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47094871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.31, Y:-0.59, Z:-0.03 [[ 9.99999933e-01 -3.66496761e-04 0.00000000e+00 1.07311185e+02] [ 3.66496761e-04 9.99999933e-01 0.00000000e+00 -5.91863203e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39668197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.37, Y:-0.59, Z:-0.02 [[ 9.99994560e-01 3.29846254e-03 0.00000000e+00 1.07371619e+02] [-3.29846254e-03 9.99994560e-01 0.00000000e+00 -5.93425246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26898298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:-0.60, Z:-0.02 [[ 9.99990261e-01 4.41328741e-03 0.00000000e+00 1.07431171e+02] [-4.41328741e-03 9.99990261e-01 0.00000000e+00 -5.96994957e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03325250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:-0.59, Z:-0.03 [[ 9.99996275e-01 2.72937273e-03 0.00000000e+00 1.07491010e+02] [-2.72937273e-03 9.99996275e-01 0.00000000e+00 -5.94641942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33379968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:-0.59, Z:-0.03 [[ 9.99999973e-01 -2.31751190e-04 0.00000000e+00 1.07551008e+02] [ 2.31751190e-04 9.99999973e-01 0.00000000e+00 -5.88898383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21427531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:-0.59, Z:-0.04 [[ 9.99989275e-01 -4.63138791e-03 0.00000000e+00 1.07611304e+02] [ 4.63138791e-03 9.99989275e-01 0.00000000e+00 -5.94596407e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.61447049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.67, Y:-0.60, Z:-0.03 [[ 9.99955213e-01 -9.46422604e-03 0.00000000e+00 1.07672546e+02] [ 9.46422604e-03 9.99955213e-01 0.00000000e+00 -5.99542978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46275531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.73, Y:-0.60, Z:-0.03 [[ 9.99866280e-01 -1.63530222e-02 0.00000000e+00 1.07734000e+02] [ 1.63530222e-02 9.99866280e-01 0.00000000e+00 -6.04331413e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39217372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.80, Y:-0.61, Z:-0.03 [[ 9.99841473e-01 -1.78053026e-02 0.00000000e+00 1.07796039e+02] [ 1.78053026e-02 9.99841473e-01 0.00000000e+00 -6.06115878e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44708928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:-0.61, Z:-0.04 [[ 9.99877114e-01 -1.56766619e-02 0.00000000e+00 1.07857919e+02] [ 1.56766619e-02 9.99877114e-01 0.00000000e+00 -6.13864972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50432317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.92, Y:-0.61, Z:-0.03 [[ 9.99873777e-01 -1.58880269e-02 0.00000000e+00 1.07919849e+02] [ 1.58880269e-02 9.99873777e-01 0.00000000e+00 -6.13398727e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29394524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:-0.62, Z:-0.03 [[ 9.99814525e-01 -1.92591711e-02 0.00000000e+00 1.07982286e+02] [ 1.92591711e-02 9.99814525e-01 0.00000000e+00 -6.20140923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49887317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.04, Y:-0.63, Z:-0.04 [[ 9.99757242e-01 -2.20330886e-02 0.00000000e+00 1.08044856e+02] [ 2.20330886e-02 9.99757242e-01 0.00000000e+00 -6.30776002e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74333768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.11, Y:-0.63, Z:-0.04 [[ 9.99730466e-01 -2.32162949e-02 0.00000000e+00 1.08107422e+02] [ 2.32162949e-02 9.99730466e-01 0.00000000e+00 -6.30113572e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64235941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.17, Y:-0.64, Z:-0.04 [[ 9.99690791e-01 -2.48660694e-02 0.00000000e+00 1.08169311e+02] [ 2.48660694e-02 9.99690791e-01 0.00000000e+00 -6.35757710e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62406753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.23, Y:-0.65, Z:-0.04 [[ 9.99703856e-01 -2.43351658e-02 0.00000000e+00 1.08231665e+02] [ 2.43351658e-02 9.99703856e-01 0.00000000e+00 -6.54923893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64802966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.29, Y:-0.66, Z:-0.03 [[ 9.99819836e-01 -1.89814408e-02 0.00000000e+00 1.08294120e+02] [ 1.89814408e-02 9.99819836e-01 0.00000000e+00 -6.58024625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48850614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.36, Y:-0.66, Z:-0.04 [[ 9.99919088e-01 -1.27207520e-02 0.00000000e+00 1.08356750e+02] [ 1.27207520e-02 9.99919088e-01 0.00000000e+00 -6.62232019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76379114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.42, Y:-0.67, Z:-0.02 [[ 9.99962203e-01 -8.69445194e-03 0.00000000e+00 1.08417723e+02] [ 8.69445194e-03 9.99962203e-01 0.00000000e+00 -6.68588387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03599693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:-0.68, Z:-0.01 [[ 9.99998592e-01 1.67783908e-03 0.00000000e+00 1.08478796e+02] [-1.67783908e-03 9.99998592e-01 0.00000000e+00 -6.77729664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49016744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.54, Y:-0.68, Z:-0.02 [[ 9.99962204e-01 8.69433327e-03 0.00000000e+00 1.08538892e+02] [-8.69433327e-03 9.99962204e-01 0.00000000e+00 -6.76678513e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59044169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.60, Y:-0.67, Z:-0.04 [[ 9.99876695e-01 1.57033233e-02 0.00000000e+00 1.08598922e+02] [-1.57033233e-02 9.99876695e-01 0.00000000e+00 -6.73218116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63970513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.66, Y:-0.68, Z:-0.02 [[ 9.99847646e-01 1.74552154e-02 0.00000000e+00 1.08658200e+02] [-1.74552154e-02 9.99847646e-01 0.00000000e+00 -6.75245519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12138812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:-0.68, Z:-0.03 [[ 9.99829739e-01 1.84524295e-02 0.00000000e+00 1.08717663e+02] [-1.84524295e-02 9.99829739e-01 0.00000000e+00 -6.77107688e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49684858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.182320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:-0.68, Z:-0.02 [[ 9.99809556e-01 1.95154288e-02 0.00000000e+00 1.08777270e+02] [-1.95154288e-02 9.99809556e-01 0.00000000e+00 -6.78425689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21877089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:108.84, Y:-0.67, Z:-0.02 [[ 9.99802968e-01 1.98500482e-02 0.00000000e+00 1.08836842e+02] [-1.98500482e-02 9.99802968e-01 0.00000000e+00 -6.74640729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90822588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.90, Y:-0.67, Z:-0.03 [[ 9.99726205e-01 2.33990346e-02 0.00000000e+00 1.08896513e+02] [-2.33990346e-02 9.99726205e-01 0.00000000e+00 -6.72919626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38532417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.96, Y:-0.67, Z:-0.03 [[ 9.99852615e-01 1.71682630e-02 0.00000000e+00 1.08955147e+02] [-1.71682630e-02 9.99852615e-01 0.00000000e+00 -6.68452930e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.49974144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.02, Y:-0.66, Z:-0.03 [[ 9.99904281e-01 1.38357860e-02 0.00000000e+00 1.09015029e+02] [-1.38357860e-02 9.99904281e-01 0.00000000e+00 -6.64910318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23806625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:-0.66, Z:-0.03 [[ 9.99942636e-01 1.07110086e-02 0.00000000e+00 1.09075070e+02] [-1.07110086e-02 9.99942636e-01 0.00000000e+00 -6.63729932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15736494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:-0.66, Z:-0.04 [[ 9.99980204e-01 6.29214781e-03 0.00000000e+00 1.09134603e+02] [-6.29214781e-03 9.99980204e-01 0.00000000e+00 -6.56021412e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79854556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.19, Y:-0.65, Z:-0.04 [[ 9.99994970e-01 3.17165744e-03 0.00000000e+00 1.09194250e+02] [-3.17165744e-03 9.99994970e-01 0.00000000e+00 -6.54917369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55440696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.25, Y:-0.65, Z:-0.03 [[ 9.99998983e-01 1.42618969e-03 0.00000000e+00 1.09254398e+02] [-1.42618969e-03 9.99998983e-01 0.00000000e+00 -6.49166682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28601100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.32, Y:-0.65, Z:-0.03 [[ 9.99999996e-01 -9.28565388e-05 0.00000000e+00 1.09315221e+02] [ 9.28565388e-05 9.99999996e-01 0.00000000e+00 -6.45100657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33478211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.38, Y:-0.64, Z:-0.03 [[ 9.99988327e-01 -4.83167963e-03 0.00000000e+00 1.09375338e+02] [ 4.83167963e-03 9.99988327e-01 0.00000000e+00 -6.43376470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42113451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.44, Y:-0.65, Z:-0.04 [[ 9.99927973e-01 -1.20020017e-02 0.00000000e+00 1.09436746e+02] [ 1.20020017e-02 9.99927973e-01 0.00000000e+00 -6.45232135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58864450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.50, Y:-0.64, Z:-0.03 [[ 9.99864144e-01 -1.64831339e-02 0.00000000e+00 1.09498437e+02] [ 1.64831339e-02 9.99864144e-01 0.00000000e+00 -6.41787358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41428469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:-0.65, Z:-0.03 [[ 9.99812380e-01 -1.93702173e-02 0.00000000e+00 1.09560728e+02] [ 1.93702173e-02 9.99812380e-01 0.00000000e+00 -6.48671651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38676805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.62, Y:-0.65, Z:-0.02 [[ 9.99812963e-01 -1.93400747e-02 0.00000000e+00 1.09622201e+02] [ 1.93400747e-02 9.99812963e-01 0.00000000e+00 -6.52646210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66183486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.68, Y:-0.66, Z:-0.04 [[ 9.99756965e-01 -2.20456553e-02 0.00000000e+00 1.09683246e+02] [ 2.20456553e-02 9.99756965e-01 0.00000000e+00 -6.57300193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71952739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.75, Y:-0.66, Z:-0.03 [[ 9.99768217e-01 -2.15293245e-02 0.00000000e+00 1.09745274e+02] [ 2.15293245e-02 9.99768217e-01 0.00000000e+00 -6.58893306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35329525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.81, Y:-0.67, Z:-0.04 [[ 9.99796761e-01 -2.01602527e-02 0.00000000e+00 1.09807596e+02] [ 2.01602527e-02 9.99796761e-01 0.00000000e+00 -6.67130246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52592354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.262320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:-0.67, Z:-0.04 [[ 9.99795529e-01 -2.02213007e-02 0.00000000e+00 1.09869358e+02] [ 2.02213007e-02 9.99795529e-01 0.00000000e+00 -6.73872887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59342094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.93, Y:-0.68, Z:-0.03 [[ 9.99826044e-01 -1.86516017e-02 0.00000000e+00 1.09930571e+02] [ 1.86516017e-02 9.99826044e-01 0.00000000e+00 -6.79545450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37136340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.99, Y:-0.68, Z:-0.03 [[ 9.99854546e-01 -1.70554033e-02 0.00000000e+00 1.09991460e+02] [ 1.70554033e-02 9.99854546e-01 0.00000000e+00 -6.78778428e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32408060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.05, Y:-0.68, Z:-0.03 [[ 9.99897200e-01 -1.43383881e-02 0.00000000e+00 1.10053013e+02] [ 1.43383881e-02 9.99897200e-01 0.00000000e+00 -6.80592367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32008438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.11, Y:-0.69, Z:-0.03 [[ 9.99931993e-01 -1.16622892e-02 0.00000000e+00 1.10114081e+02] [ 1.16622892e-02 9.99931993e-01 0.00000000e+00 -6.88535402e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35211717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.18, Y:-0.69, Z:-0.03 [[ 9.99940932e-01 -1.08689071e-02 0.00000000e+00 1.10175625e+02] [ 1.08689071e-02 9.99940932e-01 0.00000000e+00 -6.87451329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38084896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.24, Y:-0.69, Z:-0.03 [[ 9.99946854e-01 -1.03096961e-02 0.00000000e+00 1.10236795e+02] [ 1.03096961e-02 9.99946854e-01 0.00000000e+00 -6.89133324e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32134596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.30, Y:-0.69, Z:-0.04 [[ 9.99966132e-01 -8.23010079e-03 0.00000000e+00 1.10298115e+02] [ 8.23010079e-03 9.99966132e-01 0.00000000e+00 -6.87944643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56173910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.36, Y:-0.69, Z:-0.03 [[ 9.99981582e-01 -6.06928091e-03 0.00000000e+00 1.10358536e+02] [ 6.06928091e-03 9.99981582e-01 0.00000000e+00 -6.86636099e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20348945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.42, Y:-0.69, Z:-0.03 [[ 9.99981620e-01 -6.06300504e-03 0.00000000e+00 1.10419447e+02] [ 6.06300504e-03 9.99981620e-01 0.00000000e+00 -6.86591252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23969691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.48, Y:-0.69, Z:-0.03 [[ 9.99974445e-01 -7.14906661e-03 0.00000000e+00 1.10480165e+02] [ 7.14906661e-03 9.99974445e-01 0.00000000e+00 -6.86036277e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21288633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.54, Y:-0.68, Z:-0.03 [[ 9.99986918e-01 -5.11506064e-03 0.00000000e+00 1.10541166e+02] [ 5.11506064e-03 9.99986918e-01 0.00000000e+00 -6.83788789e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15348277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.60, Y:-0.68, Z:-0.03 [[ 9.99997900e-01 -2.04940873e-03 0.00000000e+00 1.10601483e+02] [ 2.04940873e-03 9.99997900e-01 0.00000000e+00 -6.80799216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21292603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.66, Y:-0.68, Z:-0.02 [[ 9.99999926e-01 3.84503121e-04 0.00000000e+00 1.10662426e+02] [-3.84503121e-04 9.99999926e-01 0.00000000e+00 -6.80259415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71171315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.72, Y:-0.68, Z:-0.03 [[ 9.99996148e-01 -2.77562947e-03 0.00000000e+00 1.10722524e+02] [ 2.77562947e-03 9.99996148e-01 0.00000000e+00 -6.79239835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30662013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.162320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:110.78, Y:-0.68, Z:-0.03 [[ 9.99961351e-01 -8.79184218e-03 0.00000000e+00 1.10782660e+02] [ 8.79184218e-03 9.99961351e-01 0.00000000e+00 -6.79590684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36523302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.84, Y:-0.68, Z:-0.03 [[ 9.99928644e-01 -1.19459752e-02 0.00000000e+00 1.10844263e+02] [ 1.19459752e-02 9.99928644e-01 0.00000000e+00 -6.82419496e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32476987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.90, Y:-0.69, Z:-0.02 [[ 9.99872263e-01 -1.59830314e-02 0.00000000e+00 1.10904389e+02] [ 1.59830314e-02 9.99872263e-01 0.00000000e+00 -6.92590581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34268425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:110.97, Y:-0.70, Z:-0.02 [[ 9.99832243e-01 -1.83162702e-02 0.00000000e+00 1.10965491e+02] [ 1.83162702e-02 9.99832243e-01 0.00000000e+00 -7.00799855e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92049894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.03, Y:-0.70, Z:-0.02 [[ 9.99884899e-01 -1.51719623e-02 0.00000000e+00 1.11026811e+02] [ 1.51719623e-02 9.99884899e-01 0.00000000e+00 -7.02795577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03837594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.09, Y:-0.71, Z:-0.02 [[ 9.99941004e-01 -1.08622625e-02 0.00000000e+00 1.11088566e+02] [ 1.08622625e-02 9.99941004e-01 0.00000000e+00 -7.07217825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25310824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.15, Y:-0.71, Z:-0.03 [[ 9.99999997e-01 7.70377742e-05 0.00000000e+00 1.11148759e+02] [-7.70377742e-05 9.99999997e-01 0.00000000e+00 -7.13294606e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45563804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.21, Y:-0.71, Z:-0.03 [[ 9.99980946e-01 6.17309973e-03 0.00000000e+00 1.11209593e+02] [-6.17309973e-03 9.99980946e-01 0.00000000e+00 -7.09693380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92322793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.27, Y:-0.71, Z:-0.02 [[ 9.99899057e-01 1.42083087e-02 0.00000000e+00 1.11269736e+02] [-1.42083087e-02 9.99899057e-01 0.00000000e+00 -7.06450471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59008659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.33, Y:-0.70, Z:-0.02 [[ 9.99814394e-01 1.92659575e-02 0.00000000e+00 1.11329413e+02] [-1.92659575e-02 9.99814394e-01 0.00000000e+00 -6.99161539e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65315971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.39, Y:-0.69, Z:-0.03 [[ 9.99650030e-01 2.64540702e-02 0.00000000e+00 1.11389139e+02] [-2.64540702e-02 9.99650030e-01 0.00000000e+00 -6.91433526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12058390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.45, Y:-0.68, Z:-0.03 [[ 9.99524444e-01 3.08364434e-02 0.00000000e+00 1.11448291e+02] [-3.08364434e-02 9.99524444e-01 0.00000000e+00 -6.80011973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15590067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.51, Y:-0.67, Z:-0.03 [[ 9.99380210e-01 3.52022229e-02 0.00000000e+00 1.11507441e+02] [-3.52022229e-02 9.99380210e-01 0.00000000e+00 -6.70948301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.22149260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.57, Y:-0.66, Z:-0.02 [[ 9.99350659e-01 3.60313720e-02 0.00000000e+00 1.11566115e+02] [-3.60313720e-02 9.99350659e-01 0.00000000e+00 -6.64645323e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56401191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.62, Y:-0.65, Z:-0.03 [[ 9.99447136e-01 3.32478903e-02 0.00000000e+00 1.11624671e+02] [-3.32478903e-02 9.99447136e-01 0.00000000e+00 -6.54805819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12473518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.68, Y:-0.65, Z:-0.03 [[ 9.99477965e-01 3.23078443e-02 0.00000000e+00 1.11683540e+02] [-3.23078443e-02 9.99477965e-01 0.00000000e+00 -6.50566729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99479252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.74, Y:-0.64, Z:-0.03 [[ 9.99363552e-01 3.56719813e-02 0.00000000e+00 1.11742155e+02] [-3.56719813e-02 9.99363552e-01 0.00000000e+00 -6.35419390e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24187335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.80, Y:-0.63, Z:-0.03 [[ 9.99323298e-01 3.67824284e-02 0.00000000e+00 1.11801391e+02] [-3.67824284e-02 9.99323298e-01 0.00000000e+00 -6.30345015e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16380419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.86, Y:-0.62, Z:-0.03 [[ 9.99374322e-01 3.53689877e-02 0.00000000e+00 1.11859749e+02] [-3.53689877e-02 9.99374322e-01 0.00000000e+00 -6.22054214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82721454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.92, Y:-0.61, Z:-0.03 [[ 9.99554892e-01 2.98331838e-02 0.00000000e+00 1.11918390e+02] [-2.98331838e-02 9.99554892e-01 0.00000000e+00 -6.11853326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93503194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:111.98, Y:-0.61, Z:-0.03 [[ 9.99706044e-01 2.42451203e-02 0.00000000e+00 1.11976584e+02] [-2.42451203e-02 9.99706044e-01 0.00000000e+00 -6.08647911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08353318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.04, Y:-0.60, Z:-0.03 [[ 9.99926601e-01 1.21158022e-02 0.00000000e+00 1.12035125e+02] [-1.21158022e-02 9.99926601e-01 0.00000000e+00 -6.02181464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20181805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.09, Y:-0.60, Z:-0.03 [[ 9.99989224e-01 4.64242215e-03 0.00000000e+00 1.12094305e+02] [-4.64242215e-03 9.99989224e-01 0.00000000e+00 -5.99650300e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33855618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.15, Y:-0.59, Z:-0.03 [[ 9.99984053e-01 -5.64744114e-03 0.00000000e+00 1.12153780e+02] [ 5.64744114e-03 9.99984053e-01 0.00000000e+00 -5.92690682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10823455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.22, Y:-0.59, Z:-0.03 [[ 9.99943124e-01 -1.06653106e-02 0.00000000e+00 1.12215268e+02] [ 1.06653106e-02 9.99943124e-01 0.00000000e+00 -5.93253275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23368348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.28, Y:-0.60, Z:-0.03 [[ 9.99831351e-01 -1.83648819e-02 0.00000000e+00 1.12276369e+02] [ 1.83648819e-02 9.99831351e-01 0.00000000e+00 -6.00394494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25448996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.34, Y:-0.60, Z:-0.03 [[ 9.99788894e-01 -2.05467085e-02 0.00000000e+00 1.12338526e+02] [ 2.05467085e-02 9.99788894e-01 0.00000000e+00 -5.99926778e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30258212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.40, Y:-0.60, Z:-0.04 [[ 9.99810434e-01 -1.94703647e-02 0.00000000e+00 1.12400895e+02] [ 1.94703647e-02 9.99810434e-01 0.00000000e+00 -6.03466436e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57840849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.46, Y:-0.60, Z:-0.03 [[ 9.99882639e-01 -1.53201754e-02 0.00000000e+00 1.12462870e+02] [ 1.53201754e-02 9.99882639e-01 0.00000000e+00 -6.03579873e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36064490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.52, Y:-0.61, Z:-0.03 [[ 9.99911761e-01 -1.32841778e-02 0.00000000e+00 1.12524728e+02] [ 1.32841778e-02 9.99911761e-01 0.00000000e+00 -6.06173154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.23021500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.59, Y:-0.60, Z:-0.03 [[ 9.99917294e-01 -1.28609958e-02 0.00000000e+00 1.12586498e+02] [ 1.28609958e-02 9.99917294e-01 0.00000000e+00 -6.03351200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39922450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.65, Y:-0.60, Z:-0.03 [[ 9.99935786e-01 -1.13324449e-02 0.00000000e+00 1.12648551e+02] [ 1.13324449e-02 9.99935786e-01 0.00000000e+00 -6.01165250e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39831824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.71, Y:-0.60, Z:-0.03 [[ 9.99928433e-01 -1.19636234e-02 0.00000000e+00 1.12710266e+02] [ 1.19636234e-02 9.99928433e-01 0.00000000e+00 -5.98220341e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29088381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.77, Y:-0.59, Z:-0.04 [[ 9.99921397e-01 -1.25379154e-02 0.00000000e+00 1.12772617e+02] [ 1.25379154e-02 9.99921397e-01 0.00000000e+00 -5.92472477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50759913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.83, Y:-0.59, Z:-0.03 [[ 9.99905825e-01 -1.37237130e-02 0.00000000e+00 1.12834616e+02] [ 1.37237130e-02 9.99905825e-01 0.00000000e+00 -5.89007440e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39201017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.90, Y:-0.59, Z:-0.03 [[ 9.99879091e-01 -1.55500505e-02 0.00000000e+00 1.12897116e+02] [ 1.55500505e-02 9.99879091e-01 0.00000000e+00 -5.87583872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32267343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.96, Y:-0.59, Z:-0.03 [[ 9.99790738e-01 -2.04567722e-02 0.00000000e+00 1.12959349e+02] [ 2.04567722e-02 9.99790738e-01 0.00000000e+00 -5.92272702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28655491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.02, Y:-0.59, Z:-0.03 [[ 9.99783679e-01 -2.07989046e-02 0.00000000e+00 1.13021791e+02] [ 2.07989046e-02 9.99783679e-01 0.00000000e+00 -5.92689297e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39053523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.08, Y:-0.59, Z:-0.03 [[ 9.99802058e-01 -1.98958430e-02 0.00000000e+00 1.13084918e+02] [ 1.98958430e-02 9.99802058e-01 0.00000000e+00 -5.89963088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21266856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:-0.59, Z:-0.04 [[ 9.99798019e-01 -2.00978002e-02 0.00000000e+00 1.13146798e+02] [ 2.00978002e-02 9.99798019e-01 0.00000000e+00 -5.93417728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50722733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.21, Y:-0.60, Z:-0.03 [[ 9.99761798e-01 -2.18253654e-02 0.00000000e+00 1.13209827e+02] [ 2.18253654e-02 9.99761798e-01 0.00000000e+00 -5.96884660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31192840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:-0.60, Z:-0.03 [[ 9.99718530e-01 -2.37247004e-02 0.00000000e+00 1.13273186e+02] [ 2.37247004e-02 9.99718530e-01 0.00000000e+00 -5.96076217e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82435905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:-0.60, Z:-0.01 [[ 9.99751534e-01 -2.22905909e-02 0.00000000e+00 1.13334320e+02] [ 2.22905909e-02 9.99751534e-01 0.00000000e+00 -6.01069625e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88371221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:-0.60, Z:-0.03 [[ 9.99788255e-01 -2.05777859e-02 0.00000000e+00 1.13394924e+02] [ 2.05777859e-02 9.99788255e-01 0.00000000e+00 -6.01878547e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40545441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.802320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:113.46, Y:-0.60, Z:-0.01 [[ 9.99852306e-01 -1.71862276e-02 0.00000000e+00 1.13456562e+02] [ 1.71862276e-02 9.99852306e-01 0.00000000e+00 -6.02204575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70100426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.52, Y:-0.61, Z:-0.03 [[ 9.99849702e-01 -1.73370474e-02 0.00000000e+00 1.13517864e+02] [ 1.73370474e-02 9.99849702e-01 0.00000000e+00 -6.06473144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06261053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.58, Y:-0.60, Z:-0.03 [[ 9.99891985e-01 -1.46975916e-02 0.00000000e+00 1.13580217e+02] [ 1.46975916e-02 9.99891985e-01 0.00000000e+00 -6.02153230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26595169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.64, Y:-0.61, Z:-0.03 [[ 9.99933965e-01 -1.14919447e-02 0.00000000e+00 1.13642095e+02] [ 1.14919447e-02 9.99933965e-01 0.00000000e+00 -6.05277841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24669871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:113.70, Y:-0.60, Z:-0.01 [[ 9.99986809e-01 -5.13636335e-03 0.00000000e+00 1.13702936e+02] [ 5.13636335e-03 9.99986809e-01 0.00000000e+00 -6.02944586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40116280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.76, Y:-0.60, Z:-0.03 [[ 9.99997174e-01 2.37718871e-03 0.00000000e+00 1.13763542e+02] [-2.37718871e-03 9.99997174e-01 0.00000000e+00 -5.97261684e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00775917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.162320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:113.82, Y:-0.60, Z:-0.02 [[ 9.99977618e-01 6.69049546e-03 0.00000000e+00 1.13823680e+02] [-6.69049546e-03 9.99977618e-01 0.00000000e+00 -5.96140249e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89035812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.88, Y:-0.60, Z:-0.03 [[ 9.99981621e-01 6.06285135e-03 0.00000000e+00 1.13883515e+02] [-6.06285135e-03 9.99981621e-01 0.00000000e+00 -5.95347458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07354527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.94, Y:-0.59, Z:-0.03 [[ 9.99999973e-01 -2.34197295e-04 0.00000000e+00 1.13942801e+02] [ 2.34197295e-04 9.99999973e-01 0.00000000e+00 -5.94037129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94153139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.00, Y:-0.59, Z:-0.03 [[ 9.99991443e-01 -4.13685317e-03 0.00000000e+00 1.14003475e+02] [ 4.13685317e-03 9.99991443e-01 0.00000000e+00 -5.94231706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76640468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.06, Y:-0.60, Z:-0.02 [[ 9.99975968e-01 -6.93281695e-03 0.00000000e+00 1.14064547e+02] [ 6.93281695e-03 9.99975968e-01 0.00000000e+00 -5.95438674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99339682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:114.13, Y:-0.60, Z:-0.02 [[ 9.99980709e-01 -6.21147397e-03 0.00000000e+00 1.14125462e+02] [ 6.21147397e-03 9.99980709e-01 0.00000000e+00 -5.98798901e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10349177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.19, Y:-0.60, Z:-0.03 [[ 9.99976839e-01 -6.80598939e-03 0.00000000e+00 1.14187052e+02] [ 6.80598939e-03 9.99976839e-01 0.00000000e+00 -6.01015729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66474254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.25, Y:-0.60, Z:-0.03 [[ 9.99949950e-01 -1.00049225e-02 0.00000000e+00 1.14248412e+02] [ 1.00049225e-02 9.99949950e-01 0.00000000e+00 -6.04038032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70504682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.31, Y:-0.61, Z:-0.03 [[ 9.99892714e-01 -1.46478499e-02 0.00000000e+00 1.14309834e+02] [ 1.46478499e-02 9.99892714e-01 0.00000000e+00 -6.06566404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10889345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.37, Y:-0.61, Z:-0.03 [[ 9.99873129e-01 -1.59287513e-02 0.00000000e+00 1.14372062e+02] [ 1.59287513e-02 9.99873129e-01 0.00000000e+00 -6.06214062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93072130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.43, Y:-0.61, Z:-0.03 [[ 9.99894384e-01 -1.45334133e-02 0.00000000e+00 1.14434206e+02] [ 1.45334133e-02 9.99894384e-01 0.00000000e+00 -6.08597097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81769538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.50, Y:-0.61, Z:-0.01 [[ 9.99907815e-01 -1.35779421e-02 0.00000000e+00 1.14496796e+02] [ 1.35779421e-02 9.99907815e-01 0.00000000e+00 -6.13386879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48754546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.56, Y:-0.61, Z:-0.03 [[ 9.99853508e-01 -1.71161470e-02 0.00000000e+00 1.14558711e+02] [ 1.71161470e-02 9.99853508e-01 0.00000000e+00 -6.12879707e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88537666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.62, Y:-0.62, Z:-0.03 [[ 9.99824748e-01 -1.87209369e-02 0.00000000e+00 1.14621035e+02] [ 1.87209369e-02 9.99824748e-01 0.00000000e+00 -6.17054573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00110577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.68, Y:-0.62, Z:-0.03 [[ 9.99857542e-01 -1.68788752e-02 0.00000000e+00 1.14683562e+02] [ 1.68788752e-02 9.99857542e-01 0.00000000e+00 -6.21541615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67831568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.75, Y:-0.62, Z:-0.02 [[ 9.99876461e-01 -1.57182545e-02 0.00000000e+00 1.14746078e+02] [ 1.57182545e-02 9.99876461e-01 0.00000000e+00 -6.21856932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28681986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.81, Y:-0.63, Z:-0.03 [[ 9.99864861e-01 -1.64395969e-02 0.00000000e+00 1.14808246e+02] [ 1.64395969e-02 9.99864861e-01 0.00000000e+00 -6.28606698e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82720119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.87, Y:-0.64, Z:-0.01 [[ 9.99896801e-01 -1.43661865e-02 0.00000000e+00 1.14869316e+02] [ 1.43661865e-02 9.99896801e-01 0.00000000e+00 -6.36381726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40862313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.93, Y:-0.64, Z:-0.03 [[ 9.99934007e-01 -1.14882896e-02 0.00000000e+00 1.14930307e+02] [ 1.14882896e-02 9.99934007e-01 0.00000000e+00 -6.37309040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.57611822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.99, Y:-0.64, Z:-0.03 [[ 9.99984960e-01 -5.48457461e-03 0.00000000e+00 1.14991455e+02] [ 5.48457461e-03 9.99984960e-01 0.00000000e+00 -6.40333124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96027376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.05, Y:-0.65, Z:-0.01 [[ 9.99991054e-01 4.22980786e-03 0.00000000e+00 1.15051937e+02] [-4.22980786e-03 9.99991054e-01 0.00000000e+00 -6.45539003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04221579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.11, Y:-0.64, Z:-0.02 [[ 9.99959856e-01 8.96030239e-03 0.00000000e+00 1.15112306e+02] [-8.96030239e-03 9.99959856e-01 0.00000000e+00 -6.43887898e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33194614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.17, Y:-0.64, Z:-0.03 [[ 9.99896302e-01 1.44008834e-02 0.00000000e+00 1.15172266e+02] [-1.44008834e-02 9.99896302e-01 0.00000000e+00 -6.38185576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86235386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.23, Y:-0.64, Z:-0.03 [[ 9.99847164e-01 1.74828149e-02 0.00000000e+00 1.15232104e+02] [-1.74828149e-02 9.99847164e-01 0.00000000e+00 -6.37874790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52438136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.602320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:115.29, Y:-0.63, Z:-0.00 [[ 9.99852408e-01 1.71802903e-02 0.00000000e+00 1.15292332e+02] [-1.71802903e-02 9.99852408e-01 0.00000000e+00 -6.34099071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61034054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.35, Y:-0.63, Z:-0.03 [[ 9.99830363e-01 1.84186097e-02 0.00000000e+00 1.15352345e+02] [-1.84186097e-02 9.99830363e-01 0.00000000e+00 -6.28268227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53533574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.41, Y:-0.62, Z:-0.03 [[ 9.99826169e-01 1.86448708e-02 0.00000000e+00 1.15411636e+02] [-1.86448708e-02 9.99826169e-01 0.00000000e+00 -6.22766419e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63595344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.47, Y:-0.62, Z:-0.03 [[ 9.99846536e-01 1.75186968e-02 0.00000000e+00 1.15469959e+02] [-1.75186968e-02 9.99846536e-01 0.00000000e+00 -6.16364886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77455232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.53, Y:-0.61, Z:-0.03 [[ 9.99855464e-01 1.70014920e-02 0.00000000e+00 1.15528684e+02] [-1.70014920e-02 9.99855464e-01 0.00000000e+00 -6.08629682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56277658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.59, Y:-0.60, Z:-0.02 [[ 9.99873734e-01 1.58907274e-02 0.00000000e+00 1.15587298e+02] [-1.58907274e-02 9.99873734e-01 0.00000000e+00 -6.01555213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31403246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.65, Y:-0.59, Z:-0.03 [[ 9.99912104e-01 1.32583991e-02 0.00000000e+00 1.15645795e+02] [-1.32583991e-02 9.99912104e-01 0.00000000e+00 -5.93555546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79585692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.70, Y:-0.60, Z:-0.03 [[ 9.99938641e-01 1.10776307e-02 0.00000000e+00 1.15704566e+02] [-1.10776307e-02 9.99938641e-01 0.00000000e+00 -5.97958193e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97430822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.76, Y:-0.60, Z:-0.03 [[ 9.99982502e-01 5.91574602e-03 0.00000000e+00 1.15763794e+02] [-5.91574602e-03 9.99982502e-01 0.00000000e+00 -5.96337240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56771758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.82, Y:-0.60, Z:-0.03 [[ 9.99986504e-01 5.19540794e-03 0.00000000e+00 1.15823897e+02] [-5.19540794e-03 9.99986504e-01 0.00000000e+00 -5.96532010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53893355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20232058799999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:115.88, Y:-0.60, Z:-0.01 [[ 9.99993652e-01 3.56314505e-03 0.00000000e+00 1.15883809e+02] [-3.56314505e-03 9.99993652e-01 0.00000000e+00 -5.97061716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72469695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.94, Y:-0.60, Z:-0.03 [[ 9.99997621e-01 2.18140506e-03 0.00000000e+00 1.15944010e+02] [-2.18140506e-03 9.99997621e-01 0.00000000e+00 -5.99534997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98672424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.00, Y:-0.61, Z:-0.03 [[ 9.99999639e-01 8.49595655e-04 0.00000000e+00 1.16004164e+02] [-8.49595655e-04 9.99999639e-01 0.00000000e+00 -6.08710506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77474439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.07, Y:-0.61, Z:-0.03 [[ 9.99999213e-01 -1.25457235e-03 0.00000000e+00 1.16065128e+02] [ 1.25457235e-03 9.99999213e-01 0.00000000e+00 -6.11735125e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81654610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.13, Y:-0.62, Z:-0.03 [[ 9.99993711e-01 -3.54657097e-03 0.00000000e+00 1.16126096e+02] [ 3.54657097e-03 9.99993711e-01 0.00000000e+00 -6.23664233e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86906125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.19, Y:-0.63, Z:-0.03 [[ 9.99992254e-01 -3.93597125e-03 0.00000000e+00 1.16187045e+02] [ 3.93597125e-03 9.99992254e-01 0.00000000e+00 -6.32038482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54517898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.25, Y:-0.64, Z:-0.03 [[ 9.99999546e-01 -9.52952880e-04 0.00000000e+00 1.16247383e+02] [ 9.52952880e-04 9.99999546e-01 0.00000000e+00 -6.39612589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60687487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.31, Y:-0.65, Z:-0.03 [[ 9.99996259e-01 2.73516197e-03 0.00000000e+00 1.16307499e+02] [-2.73516197e-03 9.99996259e-01 0.00000000e+00 -6.46363393e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90066856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.37, Y:-0.65, Z:-0.03 [[ 9.99986594e-01 5.17793519e-03 0.00000000e+00 1.16367499e+02] [-5.17793519e-03 9.99986594e-01 0.00000000e+00 -6.53102078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86054858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.43, Y:-0.66, Z:-0.02 [[ 9.99991345e-01 4.16063788e-03 0.00000000e+00 1.16428450e+02] [-4.16063788e-03 9.99991345e-01 0.00000000e+00 -6.55295911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44735655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:-0.66, Z:-0.03 [[ 9.99990396e-01 4.38269954e-03 0.00000000e+00 1.16488486e+02] [-4.38269954e-03 9.99990396e-01 0.00000000e+00 -6.64738101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78377593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.55, Y:-0.67, Z:-0.03 [[ 9.99978480e-01 6.56044392e-03 0.00000000e+00 1.16549457e+02] [-6.56044392e-03 9.99978480e-01 0.00000000e+00 -6.66428149e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80989996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.61, Y:-0.66, Z:-0.02 [[ 9.99921091e-01 1.25623144e-02 0.00000000e+00 1.16609921e+02] [-1.25623144e-02 9.99921091e-01 0.00000000e+00 -6.64972634e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74573218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.67, Y:-0.67, Z:-0.03 [[ 9.99910242e-01 1.33980719e-02 0.00000000e+00 1.16669907e+02] [-1.33980719e-02 9.99910242e-01 0.00000000e+00 -6.65663783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61976655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.73, Y:-0.67, Z:-0.03 [[ 9.99859520e-01 1.67612926e-02 0.00000000e+00 1.16729380e+02] [-1.67612926e-02 9.99859520e-01 0.00000000e+00 -6.68143473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78046409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.79, Y:-0.66, Z:-0.02 [[ 9.99803100e-01 1.98433931e-02 0.00000000e+00 1.16788828e+02] [-1.98433931e-02 9.99803100e-01 0.00000000e+00 -6.60114273e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42914700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.85, Y:-0.66, Z:-0.03 [[ 9.99815828e-01 1.91914228e-02 0.00000000e+00 1.16847932e+02] [-1.91914228e-02 9.99815828e-01 0.00000000e+00 -6.58536671e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59448880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.91, Y:-0.66, Z:-0.03 [[ 9.99808904e-01 1.95487922e-02 0.00000000e+00 1.16906908e+02] [-1.95487922e-02 9.99808904e-01 0.00000000e+00 -6.55352753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67434091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.97, Y:-0.65, Z:-0.03 [[ 9.99793756e-01 2.03087459e-02 0.00000000e+00 1.16965317e+02] [-2.03087459e-02 9.99793756e-01 0.00000000e+00 -6.48251238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52527997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.02, Y:-0.64, Z:-0.01 [[ 9.99819786e-01 1.89840808e-02 0.00000000e+00 1.17024646e+02] [-1.89840808e-02 9.99819786e-01 0.00000000e+00 -6.44209285e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62452472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.08, Y:-0.65, Z:-0.03 [[ 9.99853512e-01 1.71159144e-02 0.00000000e+00 1.17083515e+02] [-1.71159144e-02 9.99853512e-01 0.00000000e+00 -6.45331210e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68315253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.14, Y:-0.64, Z:-0.03 [[ 9.99885310e-01 1.51448380e-02 0.00000000e+00 1.17142220e+02] [-1.51448380e-02 9.99885310e-01 0.00000000e+00 -6.43009405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59661871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.20, Y:-0.64, Z:-0.03 [[ 9.99870477e-01 1.60944058e-02 0.00000000e+00 1.17201147e+02] [-1.60944058e-02 9.99870477e-01 0.00000000e+00 -6.35901185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67458729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.26, Y:-0.63, Z:-0.02 [[ 9.99820322e-01 1.89558219e-02 0.00000000e+00 1.17260060e+02] [-1.89558219e-02 9.99820322e-01 0.00000000e+00 -6.31969568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45791275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.32, Y:-0.63, Z:-0.03 [[ 9.99886982e-01 1.50340602e-02 0.00000000e+00 1.17319061e+02] [-1.50340602e-02 9.99886982e-01 0.00000000e+00 -6.33766316e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76777735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.38, Y:-0.63, Z:-0.03 [[ 9.99939283e-01 1.10195127e-02 0.00000000e+00 1.17378084e+02] [-1.10195127e-02 9.99939283e-01 0.00000000e+00 -6.32245399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56290407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.44, Y:-0.63, Z:-0.02 [[ 9.99976264e-01 6.88997694e-03 0.00000000e+00 1.17437937e+02] [-6.88997694e-03 9.99976264e-01 0.00000000e+00 -6.30298066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41941173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:-0.63, Z:-0.03 [[ 9.99996271e-01 2.73084748e-03 0.00000000e+00 1.17497269e+02] [-2.73084748e-03 9.99996271e-01 0.00000000e+00 -6.32998564e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76592461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.56, Y:-0.64, Z:-0.03 [[ 9.99999503e-01 -9.96669704e-04 0.00000000e+00 1.17558213e+02] [ 9.96669704e-04 9.99999503e-01 0.00000000e+00 -6.38120916e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79635490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.62, Y:-0.64, Z:-0.02 [[ 9.99995110e-01 -3.12737359e-03 0.00000000e+00 1.17618541e+02] [ 3.12737359e-03 9.99995110e-01 0.00000000e+00 -6.37357054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35888239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.68, Y:-0.64, Z:-0.02 [[ 9.99984744e-01 -5.52375740e-03 0.00000000e+00 1.17678969e+02] [ 5.52375740e-03 9.99984744e-01 0.00000000e+00 -6.38525549e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26003808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:-0.64, Z:-0.03 [[ 9.99976933e-01 -6.79219055e-03 0.00000000e+00 1.17740568e+02] [ 6.79219055e-03 9.99976933e-01 0.00000000e+00 -6.41837481e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55553636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.80, Y:-0.66, Z:-0.02 [[ 9.99960447e-01 -8.89402647e-03 0.00000000e+00 1.17801132e+02] [ 8.89402647e-03 9.99960447e-01 0.00000000e+00 -6.55381900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66256310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.86, Y:-0.66, Z:-0.03 [[ 9.99930854e-01 -1.17595337e-02 0.00000000e+00 1.17862051e+02] [ 1.17595337e-02 9.99930854e-01 0.00000000e+00 -6.58940843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64129380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.92, Y:-0.67, Z:-0.03 [[ 9.99948491e-01 -1.01496902e-02 0.00000000e+00 1.17923715e+02] [ 1.01496902e-02 9.99948491e-01 0.00000000e+00 -6.71862879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59599453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.99, Y:-0.67, Z:-0.02 [[ 9.99999321e-01 -1.16497436e-03 0.00000000e+00 1.17985176e+02] [ 1.16497436e-03 9.99999321e-01 0.00000000e+00 -6.73883646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26389950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.05, Y:-0.68, Z:-0.03 [[ 9.99986371e-01 5.22088218e-03 0.00000000e+00 1.18046144e+02] [-5.22088218e-03 9.99986371e-01 0.00000000e+00 -6.76170117e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68153139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.11, Y:-0.69, Z:-0.03 [[ 9.99949672e-01 1.00325858e-02 0.00000000e+00 1.18106260e+02] [-1.00325858e-02 9.99949672e-01 0.00000000e+00 -6.87646116e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90112327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.17, Y:-0.69, Z:-0.01 [[ 9.99976769e-01 6.81621771e-03 0.00000000e+00 1.18165448e+02] [-6.81621771e-03 9.99976769e-01 0.00000000e+00 -6.88988212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25069803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.23, Y:-0.69, Z:-0.02 [[ 9.99973263e-01 7.31250384e-03 0.00000000e+00 1.18226386e+02] [-7.31250384e-03 9.99973263e-01 0.00000000e+00 -6.87487270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12273933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.29, Y:-0.69, Z:-0.02 [[ 9.99939746e-01 1.09774888e-02 0.00000000e+00 1.18286812e+02] [-1.09774888e-02 9.99939746e-01 0.00000000e+00 -6.87848031e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43467767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.35, Y:-0.69, Z:-0.02 [[ 9.99886504e-01 1.50658477e-02 0.00000000e+00 1.18347579e+02] [-1.50658477e-02 9.99886504e-01 0.00000000e+00 -6.94303923e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45883067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.41, Y:-0.69, Z:-0.02 [[ 9.99894988e-01 1.44918442e-02 0.00000000e+00 1.18407659e+02] [-1.44918442e-02 9.99894988e-01 0.00000000e+00 -6.90435656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.31407470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.47, Y:-0.69, Z:-0.01 [[ 9.99894096e-01 1.45532640e-02 0.00000000e+00 1.18467518e+02] [-1.45532640e-02 9.99894096e-01 0.00000000e+00 -6.94200504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81766475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.53, Y:-0.69, Z:-0.02 [[ 9.99803987e-01 1.97987001e-02 0.00000000e+00 1.18527161e+02] [-1.97987001e-02 9.99803987e-01 0.00000000e+00 -6.91326642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21767857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.59, Y:-0.69, Z:-0.02 [[ 9.99780217e-01 2.09646765e-02 0.00000000e+00 1.18586862e+02] [-2.09646765e-02 9.99780217e-01 0.00000000e+00 -6.90254484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.29310401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.65, Y:-0.68, Z:-0.02 [[ 9.99698111e-01 2.45700219e-02 0.00000000e+00 1.18646237e+02] [-2.45700219e-02 9.99698111e-01 0.00000000e+00 -6.82049389e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45199621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.71, Y:-0.68, Z:-0.02 [[ 9.99708604e-01 2.41393210e-02 0.00000000e+00 1.18706119e+02] [-2.41393210e-02 9.99708604e-01 0.00000000e+00 -6.75330567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67414011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:-0.67, Z:-0.02 [[ 9.99725145e-01 2.34443035e-02 0.00000000e+00 1.18765318e+02] [-2.34443035e-02 9.99725145e-01 0.00000000e+00 -6.71575528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11084266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.82, Y:-0.66, Z:-0.01 [[ 9.99796781e-01 2.01592591e-02 0.00000000e+00 1.18823835e+02] [-2.01592591e-02 9.99796781e-01 0.00000000e+00 -6.64496678e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26133587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.88, Y:-0.66, Z:-0.02 [[ 9.99916456e-01 1.29260034e-02 0.00000000e+00 1.18882746e+02] [-1.29260034e-02 9.99916456e-01 0.00000000e+00 -6.60150821e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16098842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.94, Y:-0.66, Z:-0.02 [[ 9.99987566e-01 4.98675924e-03 0.00000000e+00 1.18942677e+02] [-4.98675924e-03 9.99987566e-01 0.00000000e+00 -6.64594040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37926753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.00, Y:-0.67, Z:-0.01 [[ 9.99999809e-01 6.18062710e-04 0.00000000e+00 1.19002907e+02] [-6.18062710e-04 9.99999809e-01 0.00000000e+00 -6.65043783e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21275955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.382320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:119.06, Y:-0.67, Z:-0.02 [[ 9.99996274e-01 2.73001194e-03 0.00000000e+00 1.19063240e+02] [-2.73001194e-03 9.99996274e-01 0.00000000e+00 -6.65759731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16320935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:119.12, Y:-0.66, Z:-0.01 [[ 9.99983530e-01 5.73938043e-03 0.00000000e+00 1.19123545e+02] [-5.73938043e-03 9.99983530e-01 0.00000000e+00 -6.63844058e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40859129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.18, Y:-0.67, Z:-0.03 [[ 9.99984333e-01 5.59761930e-03 0.00000000e+00 1.19183417e+02] [-5.59761930e-03 9.99984333e-01 0.00000000e+00 -6.69415216e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55694336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.24, Y:-0.67, Z:-0.02 [[ 9.99980046e-01 6.31721977e-03 0.00000000e+00 1.19244002e+02] [-6.31721977e-03 9.99980046e-01 0.00000000e+00 -6.72357573e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41498785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:119.30, Y:-0.66, Z:-0.02 [[ 9.99910428e-01 1.33841600e-02 0.00000000e+00 1.19304458e+02] [-1.33841600e-02 9.99910428e-01 0.00000000e+00 -6.61909561e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00280253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.36, Y:-0.66, Z:-0.02 [[ 9.99866409e-01 1.63451778e-02 0.00000000e+00 1.19363801e+02] [-1.63451778e-02 9.99866409e-01 0.00000000e+00 -6.61246181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.20220639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.42, Y:-0.66, Z:-0.02 [[ 9.99834594e-01 1.81875087e-02 0.00000000e+00 1.19423207e+02] [-1.81875087e-02 9.99834594e-01 0.00000000e+00 -6.60247870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17767611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.48, Y:-0.65, Z:-0.02 [[ 9.99853357e-01 1.71249733e-02 0.00000000e+00 1.19482367e+02] [-1.71249733e-02 9.99853357e-01 0.00000000e+00 -6.52398595e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19672769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:119.54, Y:-0.64, Z:-0.02 [[ 9.99868186e-01 1.62361159e-02 0.00000000e+00 1.19541287e+02] [-1.62361159e-02 9.99868186e-01 0.00000000e+00 -6.43545032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33624679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.60, Y:-0.64, Z:-0.02 [[ 9.99933144e-01 1.15631625e-02 0.00000000e+00 1.19599646e+02] [-1.15631625e-02 9.99933144e-01 0.00000000e+00 -6.39973472e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26128491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.66, Y:-0.64, Z:-0.02 [[ 9.99955755e-01 9.40681828e-03 0.00000000e+00 1.19659219e+02] [-9.40681828e-03 9.99955755e-01 0.00000000e+00 -6.39178991e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33352625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.72, Y:-0.63, Z:-0.02 [[ 9.99998120e-01 1.93915184e-03 0.00000000e+00 1.19719094e+02] [-1.93915184e-03 9.99998120e-01 0.00000000e+00 -6.34312767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45138535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.78, Y:-0.63, Z:-0.02 [[ 9.99999952e-01 3.11409042e-04 0.00000000e+00 1.19780037e+02] [-3.11409042e-04 9.99999952e-01 0.00000000e+00 -6.30048062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21713119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.84, Y:-0.63, Z:-0.02 [[ 9.99999417e-01 1.08016304e-03 0.00000000e+00 1.19840494e+02] [-1.08016304e-03 9.99999417e-01 0.00000000e+00 -6.25500906e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45855089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.90, Y:-0.62, Z:-0.03 [[ 9.99999422e-01 -1.07538219e-03 0.00000000e+00 1.19901071e+02] [ 1.07538219e-03 9.99999422e-01 0.00000000e+00 -6.24790946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53531874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.96, Y:-0.62, Z:-0.02 [[ 9.99992957e-01 -3.75324450e-03 0.00000000e+00 1.19961170e+02] [ 3.75324450e-03 9.99992957e-01 0.00000000e+00 -6.22146364e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22113987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:-0.62, Z:-0.02 [[ 9.99974073e-01 -7.20089135e-03 0.00000000e+00 1.20022058e+02] [ 7.20089135e-03 9.99974073e-01 0.00000000e+00 -6.19609165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43225956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:-0.62, Z:-0.01 [[ 9.99965069e-01 -8.35826514e-03 0.00000000e+00 1.20083372e+02] [ 8.35826514e-03 9.99965069e-01 0.00000000e+00 -6.19687409e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22144564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.15, Y:-0.62, Z:-0.01 [[ 9.99967434e-01 -8.07043375e-03 0.00000000e+00 1.20145049e+02] [ 8.07043375e-03 9.99967434e-01 0.00000000e+00 -6.20203839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15288058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.21, Y:-0.62, Z:-0.01 [[ 9.99950435e-01 -9.95632805e-03 0.00000000e+00 1.20206210e+02] [ 9.95632805e-03 9.99950435e-01 0.00000000e+00 -6.18260354e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24462111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.27, Y:-0.61, Z:-0.01 [[ 9.99961316e-01 -8.79586349e-03 0.00000000e+00 1.20267308e+02] [ 8.79586349e-03 9.99961316e-01 0.00000000e+00 -6.12189384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90306493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.33, Y:-0.62, Z:-0.02 [[ 9.99960462e-01 -8.89239311e-03 0.00000000e+00 1.20328270e+02] [ 8.89239311e-03 9.99960462e-01 0.00000000e+00 -6.20058645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43697316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.39, Y:-0.62, Z:-0.01 [[ 9.99874577e-01 -1.58375904e-02 0.00000000e+00 1.20389361e+02] [ 1.58375904e-02 9.99874577e-01 0.00000000e+00 -6.19408328e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42314164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.45, Y:-0.62, Z:-0.03 [[ 9.99793266e-01 -2.03328780e-02 0.00000000e+00 1.20451204e+02] [ 2.03328780e-02 9.99793266e-01 0.00000000e+00 -6.23989017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51532968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.51, Y:-0.64, Z:-0.03 [[ 9.99792239e-01 -2.03832934e-02 0.00000000e+00 1.20513718e+02] [ 2.03832934e-02 9.99792239e-01 0.00000000e+00 -6.35368271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56760727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.58, Y:-0.64, Z:-0.02 [[ 9.99849711e-01 -1.73365239e-02 0.00000000e+00 1.20576072e+02] [ 1.73365239e-02 9.99849711e-01 0.00000000e+00 -6.36541387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26015611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.64, Y:-0.64, Z:-0.02 [[ 9.99880263e-01 -1.54744640e-02 0.00000000e+00 1.20638499e+02] [ 1.54744640e-02 9.99880263e-01 0.00000000e+00 -6.39140945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03836358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.70, Y:-0.65, Z:-0.01 [[ 9.99914106e-01 -1.31065207e-02 0.00000000e+00 1.20699807e+02] [ 1.31065207e-02 9.99914106e-01 0.00000000e+00 -6.45484739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15118325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.76, Y:-0.65, Z:-0.03 [[ 9.99939737e-01 -1.09782285e-02 0.00000000e+00 1.20761113e+02] [ 1.09782285e-02 9.99939737e-01 0.00000000e+00 -6.50614520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.55679677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.82, Y:-0.65, Z:-0.02 [[ 9.99953616e-01 -9.63153274e-03 0.00000000e+00 1.20822679e+02] [ 9.63153274e-03 9.99953616e-01 0.00000000e+00 -6.53877603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27962117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.88, Y:-0.65, Z:-0.02 [[ 9.99992799e-01 -3.79495426e-03 0.00000000e+00 1.20883577e+02] [ 3.79495426e-03 9.99992799e-01 0.00000000e+00 -6.53943508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04478203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.94, Y:-0.65, Z:-0.02 [[ 9.99993014e-01 3.73801202e-03 0.00000000e+00 1.20944462e+02] [-3.73801202e-03 9.99993014e-01 0.00000000e+00 -6.49966493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44128576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.00, Y:-0.64, Z:-0.02 [[ 9.99908893e-01 1.34983636e-02 0.00000000e+00 1.21004995e+02] [-1.34983636e-02 9.99908893e-01 0.00000000e+00 -6.42737124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38008360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.07, Y:-0.64, Z:-0.02 [[ 9.99868694e-01 1.62047455e-02 0.00000000e+00 1.21065103e+02] [-1.62047455e-02 9.99868694e-01 0.00000000e+00 -6.36737296e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08761216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.12, Y:-0.63, Z:-0.01 [[ 9.99946848e-01 1.03102896e-02 0.00000000e+00 1.21123766e+02] [-1.03102896e-02 9.99946848e-01 0.00000000e+00 -6.30570851e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01575441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.18, Y:-0.63, Z:-0.01 [[ 9.99993401e-01 3.63301843e-03 0.00000000e+00 1.21183847e+02] [-3.63301843e-03 9.99993401e-01 0.00000000e+00 -6.27802647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79211932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.24, Y:-0.62, Z:-0.02 [[ 9.99989662e-01 -4.54701888e-03 0.00000000e+00 1.21244492e+02] [ 4.54701888e-03 9.99989662e-01 0.00000000e+00 -6.18590385e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10785094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.31, Y:-0.62, Z:-0.02 [[ 9.99917610e-01 -1.28363734e-02 0.00000000e+00 1.21305591e+02] [ 1.28363734e-02 9.99917610e-01 0.00000000e+00 -6.18652044e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26980777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.37, Y:-0.63, Z:-0.02 [[ 9.99829656e-01 -1.84569535e-02 0.00000000e+00 1.21366573e+02] [ 1.84569535e-02 9.99829656e-01 0.00000000e+00 -6.27761401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41442521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.43, Y:-0.62, Z:-0.02 [[ 9.99595598e-01 -2.84366210e-02 0.00000000e+00 1.21428894e+02] [ 2.84366210e-02 9.99595598e-01 0.00000000e+00 -6.24715806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.96162693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.49, Y:-0.63, Z:-0.02 [[ 9.99388352e-01 -3.49703069e-02 0.00000000e+00 1.21491919e+02] [ 3.49703069e-02 9.99388352e-01 0.00000000e+00 -6.28271219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98778392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.55, Y:-0.64, Z:-0.02 [[ 9.99142945e-01 -4.13929356e-02 0.00000000e+00 1.21554914e+02] [ 4.13929356e-02 9.99142945e-01 0.00000000e+00 -6.40903946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25462245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.62, Y:-0.65, Z:-0.02 [[ 9.98922501e-01 -4.64094516e-02 0.00000000e+00 1.21618119e+02] [ 4.64094516e-02 9.98922501e-01 0.00000000e+00 -6.50691325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40005995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.68, Y:-0.66, Z:-0.02 [[ 9.98737521e-01 -5.02330990e-02 0.00000000e+00 1.21680765e+02] [ 5.02330990e-02 9.98737521e-01 0.00000000e+00 -6.62584429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16164614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.74, Y:-0.67, Z:-0.02 [[ 9.98808450e-01 -4.88024659e-02 0.00000000e+00 1.21743347e+02] [ 4.88024659e-02 9.98808450e-01 0.00000000e+00 -6.68274854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01596738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:-0.68, Z:-0.02 [[ 9.99115464e-01 -4.20510376e-02 0.00000000e+00 1.21805869e+02] [ 4.20510376e-02 9.99115464e-01 0.00000000e+00 -6.80708726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.18661084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:-0.69, Z:-0.02 [[ 9.99261091e-01 -3.84352928e-02 0.00000000e+00 1.21868083e+02] [ 3.84352928e-02 9.99261091e-01 0.00000000e+00 -6.90655485e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37805163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.93, Y:-0.69, Z:-0.02 [[ 9.99471378e-01 -3.25109785e-02 0.00000000e+00 1.21930147e+02] [ 3.25109785e-02 9.99471378e-01 0.00000000e+00 -6.94113151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88058071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.99, Y:-0.70, Z:-0.02 [[ 9.99570890e-01 -2.92922347e-02 0.00000000e+00 1.21991686e+02] [ 2.92922347e-02 9.99570890e-01 0.00000000e+00 -6.97961889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89227786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.05, Y:-0.71, Z:-0.02 [[ 9.99731674e-01 -2.31642033e-02 0.00000000e+00 1.22052564e+02] [ 2.31642033e-02 9.99731674e-01 0.00000000e+00 -7.11576356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37036850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.11, Y:-0.71, Z:-0.00 [[ 9.99850209e-01 -1.73078023e-02 0.00000000e+00 1.22113110e+02] [ 1.73078023e-02 9.99850209e-01 0.00000000e+00 -7.14969126e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60892594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.17, Y:-0.72, Z:-0.02 [[ 9.99895988e-01 -1.44226287e-02 0.00000000e+00 1.22173653e+02] [ 1.44226287e-02 9.99895988e-01 0.00000000e+00 -7.17789458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95255971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.23, Y:-0.73, Z:-0.00 [[ 9.99958470e-01 -9.11362987e-03 0.00000000e+00 1.22234519e+02] [ 9.11362987e-03 9.99958470e-01 0.00000000e+00 -7.27135224e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39234532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.29, Y:-0.74, Z:-0.02 [[ 9.99951414e-01 -9.85750694e-03 0.00000000e+00 1.22294880e+02] [ 9.85750694e-03 9.99951414e-01 0.00000000e+00 -7.36071164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94118612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.36, Y:-0.73, Z:-0.02 [[ 9.99965733e-01 -8.27839697e-03 0.00000000e+00 1.22355471e+02] [ 8.27839697e-03 9.99965733e-01 0.00000000e+00 -7.34177312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17885019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.42, Y:-0.74, Z:-0.00 [[ 9.99998846e-01 -1.51893875e-03 0.00000000e+00 1.22415531e+02] [ 1.51893875e-03 9.99998846e-01 0.00000000e+00 -7.44384170e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63928220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.48, Y:-0.75, Z:-0.02 [[ 9.99992953e-01 -3.75415148e-03 0.00000000e+00 1.22475762e+02] [ 3.75415148e-03 9.99992953e-01 0.00000000e+00 -7.48018603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05157997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.54, Y:-0.75, Z:-0.01 [[ 9.99996567e-01 -2.62012979e-03 0.00000000e+00 1.22535871e+02] [ 2.62012979e-03 9.99996567e-01 0.00000000e+00 -7.51370397e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93619222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.60, Y:-0.75, Z:-0.02 [[ 9.99971868e-01 -7.50094257e-03 0.00000000e+00 1.22596346e+02] [ 7.50094257e-03 9.99971868e-01 0.00000000e+00 -7.54878491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95803839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.66, Y:-0.76, Z:0.00 [[ 9.99995123e-01 -3.12324339e-03 0.00000000e+00 1.22657021e+02] [ 3.12324339e-03 9.99995123e-01 0.00000000e+00 -7.58309225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07311787e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.72, Y:-0.76, Z:-0.01 [[ 9.99990386e-01 -4.38487408e-03 0.00000000e+00 1.22717179e+02] [ 4.38487408e-03 9.99990386e-01 0.00000000e+00 -7.61208459e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00268487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.78, Y:-0.77, Z:-0.02 [[ 9.99935068e-01 -1.13955973e-02 0.00000000e+00 1.22778098e+02] [ 1.13955973e-02 9.99935068e-01 0.00000000e+00 -7.65020950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05138650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.84, Y:-0.77, Z:-0.02 [[ 9.99909797e-01 -1.34312158e-02 0.00000000e+00 1.22838432e+02] [ 1.34312158e-02 9.99909797e-01 0.00000000e+00 -7.73039185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56360671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.90, Y:-0.77, Z:-0.02 [[ 9.99937514e-01 -1.11788745e-02 0.00000000e+00 1.22898109e+02] [ 1.11788745e-02 9.99937514e-01 0.00000000e+00 -7.74040493e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61841693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.96, Y:-0.78, Z:-0.02 [[ 9.99972043e-01 -7.47751570e-03 0.00000000e+00 1.22958070e+02] [ 7.47751570e-03 9.99972043e-01 0.00000000e+00 -7.78241695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86148659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:123.02, Y:-0.79, Z:-0.02 [[ 9.99998765e-01 -1.57172623e-03 0.00000000e+00 1.23018688e+02] [ 1.57172623e-03 9.99998765e-01 0.00000000e+00 -7.88447283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64816507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.08, Y:-0.79, Z:-0.02 [[ 9.99999948e-01 3.21647802e-04 0.00000000e+00 1.23078805e+02] [-3.21647802e-04 9.99999948e-01 0.00000000e+00 -7.91183532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52657472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.14, Y:-0.79, Z:-0.01 [[ 9.99957561e-01 9.21279717e-03 0.00000000e+00 1.23138907e+02] [-9.21279717e-03 9.99957561e-01 0.00000000e+00 -7.89866886e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39840362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.20, Y:-0.78, Z:-0.02 [[ 9.99875727e-01 1.57648778e-02 0.00000000e+00 1.23200523e+02] [-1.57648778e-02 9.99875727e-01 0.00000000e+00 -7.83926003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80941753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.26, Y:-0.79, Z:-0.02 [[ 9.99821763e-01 1.88796527e-02 0.00000000e+00 1.23261497e+02] [-1.88796527e-02 9.99821763e-01 0.00000000e+00 -7.90285034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57436448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.32, Y:-0.78, Z:-0.01 [[ 9.99807838e-01 1.96032529e-02 0.00000000e+00 1.23322357e+02] [-1.96032529e-02 9.99807838e-01 0.00000000e+00 -7.84121462e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42587745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.38, Y:-0.78, Z:-0.02 [[ 9.99862861e-01 1.65607988e-02 0.00000000e+00 1.23383991e+02] [-1.65607988e-02 9.99862861e-01 0.00000000e+00 -7.79430604e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01954621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.45, Y:-0.79, Z:-0.02 [[ 9.99882523e-01 1.53277649e-02 0.00000000e+00 1.23445388e+02] [-1.53277649e-02 9.99882523e-01 0.00000000e+00 -7.85300143e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92420605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.51, Y:-0.78, Z:-0.02 [[ 9.99869167e-01 1.61755543e-02 0.00000000e+00 1.23506528e+02] [-1.61755543e-02 9.99869167e-01 0.00000000e+00 -7.81437219e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68916784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.57, Y:-0.78, Z:-0.02 [[ 9.99850747e-01 1.72766888e-02 0.00000000e+00 1.23567967e+02] [-1.72766888e-02 9.99850747e-01 0.00000000e+00 -7.78557532e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57001037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.63, Y:-0.78, Z:-0.02 [[ 9.99811414e-01 1.94200133e-02 0.00000000e+00 1.23629601e+02] [-1.94200133e-02 9.99811414e-01 0.00000000e+00 -7.77510809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74942572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.69, Y:-0.78, Z:-0.02 [[ 9.99733243e-01 2.30963779e-02 0.00000000e+00 1.23690673e+02] [-2.30963779e-02 9.99733243e-01 0.00000000e+00 -7.77267491e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.16607674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.75, Y:-0.77, Z:-0.02 [[ 9.99633365e-01 2.70764930e-02 0.00000000e+00 1.23751617e+02] [-2.70764930e-02 9.99633365e-01 0.00000000e+00 -7.74883723e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90449439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.81, Y:-0.77, Z:-0.02 [[ 9.99539707e-01 3.03376535e-02 0.00000000e+00 1.23812469e+02] [-3.03376535e-02 9.99539707e-01 0.00000000e+00 -7.66489510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62910428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.87, Y:-0.76, Z:-0.02 [[ 9.99432880e-01 3.36737027e-02 0.00000000e+00 1.23873967e+02] [-3.36737027e-02 9.99432880e-01 0.00000000e+00 -7.62177159e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93797950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.94, Y:-0.75, Z:-0.02 [[ 9.99400503e-01 3.46213074e-02 0.00000000e+00 1.23935675e+02] [-3.46213074e-02 9.99400503e-01 0.00000000e+00 -7.54458506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06533106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.00, Y:-0.75, Z:-0.02 [[ 9.99465016e-01 3.27059782e-02 0.00000000e+00 1.23997348e+02] [-3.27059782e-02 9.99465016e-01 0.00000000e+00 -7.46148182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77104796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.06, Y:-0.75, Z:-0.02 [[ 9.99663376e-01 2.59448449e-02 0.00000000e+00 1.24058650e+02] [-2.59448449e-02 9.99663376e-01 0.00000000e+00 -7.45179370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90463563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.12, Y:-0.75, Z:-0.02 [[ 9.99783792e-01 2.07935049e-02 0.00000000e+00 1.24118797e+02] [-2.07935049e-02 9.99783792e-01 0.00000000e+00 -7.45306715e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98057782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.18, Y:-0.74, Z:-0.02 [[ 9.99849839e-01 1.73291306e-02 0.00000000e+00 1.24179233e+02] [-1.73291306e-02 9.99849839e-01 0.00000000e+00 -7.38768253e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91153545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.24, Y:-0.74, Z:-0.02 [[ 9.99901796e-01 1.40142427e-02 0.00000000e+00 1.24239528e+02] [-1.40142427e-02 9.99901796e-01 0.00000000e+00 -7.37787608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79516077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.30, Y:-0.74, Z:-0.02 [[ 9.99923471e-01 1.23714627e-02 0.00000000e+00 1.24299674e+02] [-1.23714627e-02 9.99923471e-01 0.00000000e+00 -7.38589094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78573411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.36, Y:-0.74, Z:-0.02 [[ 9.99967880e-01 8.01498292e-03 0.00000000e+00 1.24360370e+02] [-8.01498292e-03 9.99967880e-01 0.00000000e+00 -7.36175746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77248492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.42, Y:-0.74, Z:-0.02 [[ 9.99998419e-01 1.77819184e-03 0.00000000e+00 1.24421211e+02] [-1.77819184e-03 9.99998419e-01 0.00000000e+00 -7.40257522e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77502369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:-0.74, Z:0.00 [[ 9.99998049e-01 1.97547122e-03 0.00000000e+00 1.24482131e+02] [-1.97547122e-03 9.99998049e-01 0.00000000e+00 -7.41845164e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29448468e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:-0.74, Z:-0.00 [[ 9.99998824e-01 1.53330928e-03 0.00000000e+00 1.24542959e+02] [-1.53330928e-03 9.99998824e-01 0.00000000e+00 -7.41220729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05109196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.60, Y:-0.75, Z:-0.02 [[ 9.99992249e-01 3.93724111e-03 0.00000000e+00 1.24603906e+02] [-3.93724111e-03 9.99992249e-01 0.00000000e+00 -7.49616052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57604062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.66, Y:-0.75, Z:-0.02 [[ 9.99980210e-01 6.29124132e-03 0.00000000e+00 1.24664815e+02] [-6.29124132e-03 9.99980210e-01 0.00000000e+00 -7.50685546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54660385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.72, Y:-0.75, Z:-0.01 [[ 9.99987667e-01 4.96642306e-03 0.00000000e+00 1.24724996e+02] [-4.96642306e-03 9.99987667e-01 0.00000000e+00 -7.53693048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24189829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.79, Y:-0.76, Z:-0.01 [[ 9.99994887e-01 3.19776118e-03 0.00000000e+00 1.24785076e+02] [-3.19776118e-03 9.99994887e-01 0.00000000e+00 -7.62038075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22332899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:-0.77, Z:-0.01 [[ 9.99992202e-01 3.94908092e-03 0.00000000e+00 1.24845307e+02] [-3.94908092e-03 9.99992202e-01 0.00000000e+00 -7.66669900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18536871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:-0.77, Z:-0.01 [[ 9.99989214e-01 4.64460417e-03 0.00000000e+00 1.24905582e+02] [-4.64460417e-03 9.99989214e-01 0.00000000e+00 -7.70480346e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19613553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.97, Y:-0.78, Z:-0.01 [[ 9.99973750e-01 7.24566457e-03 0.00000000e+00 1.24965878e+02] [-7.24566457e-03 9.99973750e-01 0.00000000e+00 -7.77355317e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.71208943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.03, Y:-0.78, Z:-0.01 [[ 9.99947433e-01 1.02533519e-02 0.00000000e+00 1.25026369e+02] [-1.02533519e-02 9.99947433e-01 0.00000000e+00 -7.77328505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07376524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.09, Y:-0.78, Z:-0.01 [[ 9.99921617e-01 1.25203872e-02 0.00000000e+00 1.25086736e+02] [-1.25203872e-02 9.99921617e-01 0.00000000e+00 -7.80267861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01330627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.15, Y:-0.78, Z:-0.01 [[ 9.99886119e-01 1.50913431e-02 0.00000000e+00 1.25147870e+02] [-1.50913431e-02 9.99886119e-01 0.00000000e+00 -7.84041880e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61454868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.21, Y:-0.79, Z:-0.01 [[ 9.99850889e-01 1.72684899e-02 0.00000000e+00 1.25208836e+02] [-1.72684899e-02 9.99850889e-01 0.00000000e+00 -7.85405275e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.84291423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.27, Y:-0.79, Z:-0.01 [[ 9.99873098e-01 1.59306907e-02 0.00000000e+00 1.25269753e+02] [-1.59306907e-02 9.99873098e-01 0.00000000e+00 -7.85662533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11467764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.33, Y:-0.79, Z:-0.01 [[ 9.99917643e-01 1.28338479e-02 0.00000000e+00 1.25330762e+02] [-1.28338479e-02 9.99917643e-01 0.00000000e+00 -7.89261558e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17782437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.39, Y:-0.79, Z:-0.01 [[ 9.99918923e-01 1.27337498e-02 0.00000000e+00 1.25391668e+02] [-1.27337498e-02 9.99918923e-01 0.00000000e+00 -7.90055204e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11772315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.45, Y:-0.79, Z:-0.01 [[ 9.99923020e-01 1.24078127e-02 0.00000000e+00 1.25453320e+02] [-1.24078127e-02 9.99923020e-01 0.00000000e+00 -7.89689155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26045791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.51, Y:-0.79, Z:-0.01 [[ 9.99901824e-01 1.40121941e-02 0.00000000e+00 1.25514925e+02] [-1.40121941e-02 9.99901824e-01 0.00000000e+00 -7.92666621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34035253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.58, Y:-0.79, Z:-0.02 [[ 9.99900743e-01 1.40891666e-02 0.00000000e+00 1.25576021e+02] [-1.40891666e-02 9.99900743e-01 0.00000000e+00 -7.92112140e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61354465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.64, Y:-0.79, Z:-0.01 [[ 9.99902751e-01 1.39459045e-02 0.00000000e+00 1.25637561e+02] [-1.39459045e-02 9.99902751e-01 0.00000000e+00 -7.91184337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47241512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.70, Y:-0.79, Z:-0.01 [[ 9.99881044e-01 1.54239371e-02 0.00000000e+00 1.25698574e+02] [-1.54239371e-02 9.99881044e-01 0.00000000e+00 -7.92436012e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30385733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.76, Y:-0.79, Z:-0.02 [[ 9.99857932e-01 1.68557308e-02 0.00000000e+00 1.25759749e+02] [-1.68557308e-02 9.99857932e-01 0.00000000e+00 -7.93455005e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55127349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.82, Y:-0.79, Z:-0.01 [[ 9.99791037e-01 2.04421923e-02 0.00000000e+00 1.25820674e+02] [-2.04421923e-02 9.99791037e-01 0.00000000e+00 -7.92028405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46319397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.88, Y:-0.78, Z:-0.01 [[ 9.99616413e-01 2.76952553e-02 0.00000000e+00 1.25882142e+02] [-2.76952553e-02 9.99616413e-01 0.00000000e+00 -7.83737742e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88659989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.94, Y:-0.78, Z:-0.01 [[ 9.99567077e-01 2.94220838e-02 0.00000000e+00 1.25943081e+02] [-2.94220838e-02 9.99567077e-01 0.00000000e+00 -7.77921577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05443031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.00, Y:-0.78, Z:-0.01 [[ 9.99598228e-01 2.83440214e-02 0.00000000e+00 1.26004639e+02] [-2.83440214e-02 9.99598228e-01 0.00000000e+00 -7.75494326e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29160907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.07, Y:-0.77, Z:-0.01 [[ 9.99740680e-01 2.27721977e-02 0.00000000e+00 1.26066413e+02] [-2.27721977e-02 9.99740680e-01 0.00000000e+00 -7.72953982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51531672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.13, Y:-0.77, Z:-0.01 [[ 9.99844707e-01 1.76227516e-02 0.00000000e+00 1.26127695e+02] [-1.76227516e-02 9.99844707e-01 0.00000000e+00 -7.66966287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16040813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.19, Y:-0.76, Z:-0.01 [[ 9.99915152e-01 1.30264600e-02 0.00000000e+00 1.26188076e+02] [-1.30264600e-02 9.99915152e-01 0.00000000e+00 -7.63198760e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.18568550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.25, Y:-0.77, Z:-0.01 [[ 9.99952652e-01 9.73102119e-03 0.00000000e+00 1.26248894e+02] [-9.73102119e-03 9.99952652e-01 0.00000000e+00 -7.65575849e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88173524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.522320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.31, Y:-0.77, Z:-0.01 [[ 9.99986123e-01 5.26827986e-03 0.00000000e+00 1.26309723e+02] [-5.26827986e-03 9.99986123e-01 0.00000000e+00 -7.72157235e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57677896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.37, Y:-0.77, Z:-0.01 [[ 9.99987411e-01 5.01779476e-03 0.00000000e+00 1.26370449e+02] [-5.01779476e-03 9.99987411e-01 0.00000000e+00 -7.73717854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99521788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.43, Y:-0.78, Z:0.01 [[ 9.99968472e-01 7.94076864e-03 0.00000000e+00 1.26431519e+02] [-7.94076864e-03 9.99968472e-01 0.00000000e+00 -7.75085853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12608038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:-0.78, Z:-0.01 [[ 9.99968123e-01 7.98459632e-03 0.00000000e+00 1.26492183e+02] [-7.98459632e-03 9.99968123e-01 0.00000000e+00 -7.83663913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01092897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:-0.79, Z:-0.01 [[ 9.99944645e-01 1.05217130e-02 0.00000000e+00 1.26552197e+02] [-1.05217130e-02 9.99944645e-01 0.00000000e+00 -7.87299342e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63789764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:-0.79, Z:-0.01 [[ 9.99884703e-01 1.51848526e-02 0.00000000e+00 1.26613802e+02] [-1.51848526e-02 9.99884703e-01 0.00000000e+00 -7.85891771e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99722258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:-0.78, Z:-0.01 [[ 9.99711395e-01 2.40234637e-02 0.00000000e+00 1.26674794e+02] [-2.40234637e-02 9.99711395e-01 0.00000000e+00 -7.80642843e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19906069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.74, Y:-0.78, Z:-0.01 [[ 9.99618418e-01 2.76227920e-02 0.00000000e+00 1.26736304e+02] [-2.76227920e-02 9.99618418e-01 0.00000000e+00 -7.84860298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23104435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.80, Y:-0.78, Z:-0.01 [[ 9.99528937e-01 3.06904434e-02 0.00000000e+00 1.26797318e+02] [-3.06904434e-02 9.99528937e-01 0.00000000e+00 -7.82331039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24681153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.86, Y:-0.77, Z:-0.01 [[ 9.99436931e-01 3.35532603e-02 0.00000000e+00 1.26859094e+02] [-3.35532603e-02 9.99436931e-01 0.00000000e+00 -7.74651276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27199417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.92, Y:-0.77, Z:-0.01 [[ 9.99237976e-01 3.90316215e-02 0.00000000e+00 1.26920343e+02] [-3.90316215e-02 9.99237976e-01 0.00000000e+00 -7.72271615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15826033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.98, Y:-0.76, Z:-0.01 [[ 9.99051719e-01 4.35392079e-02 0.00000000e+00 1.26981192e+02] [-4.35392079e-02 9.99051719e-01 0.00000000e+00 -7.62889887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03063491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.04, Y:-0.75, Z:-0.01 [[ 9.98871754e-01 4.74891436e-02 0.00000000e+00 1.27042725e+02] [-4.74891436e-02 9.98871754e-01 0.00000000e+00 -7.52453978e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46649455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.10, Y:-0.73, Z:-0.01 [[ 9.98844429e-01 4.80604511e-02 0.00000000e+00 1.27103079e+02] [-4.80604511e-02 9.98844429e-01 0.00000000e+00 -7.32799135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55181106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.16, Y:-0.73, Z:-0.01 [[ 9.99044123e-01 4.37131498e-02 0.00000000e+00 1.27163399e+02] [-4.37131498e-02 9.99044123e-01 0.00000000e+00 -7.30500371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03465742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.22, Y:-0.72, Z:-0.01 [[ 9.99407059e-01 3.44315258e-02 0.00000000e+00 1.27223356e+02] [-3.44315258e-02 9.99407059e-01 0.00000000e+00 -7.20920709e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34550740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.28, Y:-0.71, Z:-0.01 [[ 9.99523625e-01 3.08629603e-02 0.00000000e+00 1.27282617e+02] [-3.08629603e-02 9.99523625e-01 0.00000000e+00 -7.13218971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87511569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.34, Y:-0.71, Z:-0.01 [[ 9.99579207e-01 2.90070348e-02 0.00000000e+00 1.27342489e+02] [-2.90070348e-02 9.99579207e-01 0.00000000e+00 -7.10714616e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.08613039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.40, Y:-0.71, Z:-0.01 [[ 9.99774436e-01 2.12385923e-02 0.00000000e+00 1.27402486e+02] [-2.12385923e-02 9.99774436e-01 0.00000000e+00 -7.09458645e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62841740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.46, Y:-0.71, Z:-0.01 [[ 9.99884641e-01 1.51889440e-02 0.00000000e+00 1.27462512e+02] [-1.51889440e-02 9.99884641e-01 0.00000000e+00 -7.13156556e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.58260873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:-0.71, Z:0.01 [[ 9.99966846e-01 8.14287649e-03 0.00000000e+00 1.27522567e+02] [-8.14287649e-03 9.99966846e-01 0.00000000e+00 -7.07347743e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67369068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.58, Y:-0.71, Z:-0.00 [[ 9.99952892e-01 9.70635096e-03 0.00000000e+00 1.27582203e+02] [-9.70635096e-03 9.99952892e-01 0.00000000e+00 -7.12233560e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94606120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.64, Y:-0.71, Z:-0.01 [[ 9.99889764e-01 1.48479214e-02 0.00000000e+00 1.27642731e+02] [-1.48479214e-02 9.99889764e-01 0.00000000e+00 -7.09471069e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04002758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.70, Y:-0.71, Z:-0.01 [[ 9.99884098e-01 1.52246561e-02 0.00000000e+00 1.27703006e+02] [-1.52246561e-02 9.99884098e-01 0.00000000e+00 -7.08818910e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17397896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.76, Y:-0.71, Z:-0.01 [[ 9.99888695e-01 1.49197095e-02 0.00000000e+00 1.27762683e+02] [-1.49197095e-02 9.99888695e-01 0.00000000e+00 -7.06029865e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.68266862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.022320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.82, Y:-0.71, Z:-0.01 [[ 9.99911929e-01 1.32715207e-02 0.00000000e+00 1.27822817e+02] [-1.32715207e-02 9.99911929e-01 0.00000000e+00 -7.12667011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36316354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:127.88, Y:-0.72, Z:-0.01 [[ 9.99903473e-01 1.38940384e-02 0.00000000e+00 1.27883515e+02] [-1.38940384e-02 9.99903473e-01 0.00000000e+00 -7.19694450e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07864293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.94, Y:-0.72, Z:-0.01 [[ 9.99886689e-01 1.50535104e-02 0.00000000e+00 1.27944483e+02] [-1.50535104e-02 9.99886689e-01 0.00000000e+00 -7.15063009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33918327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.01, Y:-0.71, Z:-0.01 [[ 9.99809991e-01 1.94931009e-02 0.00000000e+00 1.28005415e+02] [-1.94931009e-02 9.99809991e-01 0.00000000e+00 -7.14096358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10071450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.07, Y:-0.71, Z:-0.01 [[ 9.99706212e-01 2.42381854e-02 0.00000000e+00 1.28065160e+02] [-2.42381854e-02 9.99706212e-01 0.00000000e+00 -7.12733222e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87489945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.12, Y:-0.71, Z:-0.01 [[ 9.99664681e-01 2.58945099e-02 0.00000000e+00 1.28124398e+02] [-2.58945099e-02 9.99664681e-01 0.00000000e+00 -7.05170752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71291416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:-0.70, Z:-0.01 [[ 9.99622763e-01 2.74650824e-02 0.00000000e+00 1.28184409e+02] [-2.74650824e-02 9.99622763e-01 0.00000000e+00 -7.02981815e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.81239570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.24, Y:-0.70, Z:-0.01 [[ 9.99634300e-01 2.70419512e-02 0.00000000e+00 1.28243853e+02] [-2.70419512e-02 9.99634300e-01 0.00000000e+00 -7.02636401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28918442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.30, Y:-0.70, Z:-0.01 [[ 9.99679455e-01 2.53177257e-02 0.00000000e+00 1.28303329e+02] [-2.53177257e-02 9.99679455e-01 0.00000000e+00 -6.98118026e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23258395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.36, Y:-0.69, Z:-0.01 [[ 9.99639795e-01 2.68380332e-02 0.00000000e+00 1.28362665e+02] [-2.68380332e-02 9.99639795e-01 0.00000000e+00 -6.91599151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02956931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.42, Y:-0.69, Z:-0.01 [[ 9.99733753e-01 2.30743059e-02 0.00000000e+00 1.28422663e+02] [-2.30743059e-02 9.99733753e-01 0.00000000e+00 -6.91009276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92779680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.682320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:128.48, Y:-0.69, Z:0.01 [[ 9.99893192e-01 1.46152171e-02 0.00000000e+00 1.28482067e+02] [-1.46152171e-02 9.99893192e-01 0.00000000e+00 -6.89642271e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64516816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.54, Y:-0.69, Z:0.01 [[ 9.99961688e-01 8.75341962e-03 0.00000000e+00 1.28541732e+02] [-8.75341962e-03 9.99961688e-01 0.00000000e+00 -6.88734953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19299664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.60, Y:-0.69, Z:-0.01 [[ 9.99979883e-01 6.34305046e-03 0.00000000e+00 1.28601797e+02] [-6.34305046e-03 9.99979883e-01 0.00000000e+00 -6.86073339e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04979694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.66, Y:-0.69, Z:-0.01 [[ 9.99966667e-01 8.16482456e-03 0.00000000e+00 1.28662515e+02] [-8.16482456e-03 9.99966667e-01 0.00000000e+00 -6.90031138e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63118172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.72, Y:-0.69, Z:-0.01 [[ 9.99968624e-01 7.92156486e-03 0.00000000e+00 1.28722739e+02] [-7.92156486e-03 9.99968624e-01 0.00000000e+00 -6.90163914e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66454878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:-0.69, Z:-0.01 [[ 9.99991078e-01 4.22411276e-03 0.00000000e+00 1.28783406e+02] [-4.22411276e-03 9.99991078e-01 0.00000000e+00 -6.92667136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08383652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.84, Y:-0.70, Z:-0.01 [[ 9.99993464e-01 3.61542765e-03 0.00000000e+00 1.28843847e+02] [-3.61542765e-03 9.99993464e-01 0.00000000e+00 -6.96724937e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00298941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:-0.69, Z:-0.01 [[ 9.99985019e-01 5.47374200e-03 0.00000000e+00 1.28904700e+02] [-5.47374200e-03 9.99985019e-01 0.00000000e+00 -6.93053384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77265277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.97, Y:-0.69, Z:0.00 [[ 9.99970696e-01 7.65549145e-03 0.00000000e+00 1.28965224e+02] [-7.65549145e-03 9.99970696e-01 0.00000000e+00 -6.94970669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65206932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.03, Y:-0.70, Z:-0.01 [[ 9.99992184e-01 3.95362318e-03 0.00000000e+00 1.29025765e+02] [-3.95362318e-03 9.99992184e-01 0.00000000e+00 -6.95609259e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07254708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.09, Y:-0.70, Z:-0.01 [[ 9.99993256e-01 -3.67264133e-03 0.00000000e+00 1.29086329e+02] [ 3.67264133e-03 9.99993256e-01 0.00000000e+00 -6.96973942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28707727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.15, Y:-0.70, Z:-0.01 [[ 9.99986183e-01 -5.25676457e-03 0.00000000e+00 1.29146635e+02] [ 5.25676457e-03 9.99986183e-01 0.00000000e+00 -6.95804859e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.43461519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.21, Y:-0.70, Z:-0.01 [[ 9.99971471e-01 -7.55357541e-03 0.00000000e+00 1.29206893e+02] [ 7.55357541e-03 9.99971471e-01 0.00000000e+00 -6.99190680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.73061993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.27, Y:-0.70, Z:-0.01 [[ 9.99961215e-01 -8.80733148e-03 0.00000000e+00 1.29267512e+02] [ 8.80733148e-03 9.99961215e-01 0.00000000e+00 -6.98805406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00697935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.33, Y:-0.70, Z:-0.01 [[ 9.99946065e-01 -1.03859493e-02 0.00000000e+00 1.29328139e+02] [ 1.03859493e-02 9.99946065e-01 0.00000000e+00 -6.95773561e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04859917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.39, Y:-0.70, Z:-0.01 [[ 9.99919335e-01 -1.27013426e-02 0.00000000e+00 1.29389234e+02] [ 1.27013426e-02 9.99919335e-01 0.00000000e+00 -6.96705749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58465780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.45, Y:-0.70, Z:0.01 [[ 9.99888634e-01 -1.49238200e-02 0.00000000e+00 1.29450419e+02] [ 1.49238200e-02 9.99888634e-01 0.00000000e+00 -6.96320372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08160605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.51, Y:-0.70, Z:-0.01 [[ 9.99806100e-01 -1.96916615e-02 0.00000000e+00 1.29511986e+02] [ 1.96916615e-02 9.99806100e-01 0.00000000e+00 -7.01279356e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01781059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.57, Y:-0.70, Z:-0.01 [[ 9.99774521e-01 -2.12345636e-02 0.00000000e+00 1.29573461e+02] [ 2.12345636e-02 9.99774521e-01 0.00000000e+00 -6.96816292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17779415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.63, Y:-0.71, Z:-0.01 [[ 9.99788935e-01 -2.05447280e-02 0.00000000e+00 1.29634706e+02] [ 2.05447280e-02 9.99788935e-01 0.00000000e+00 -7.05063982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.41859311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.70, Y:-0.71, Z:-0.01 [[ 9.99778034e-01 -2.10685221e-02 0.00000000e+00 1.29696031e+02] [ 2.10685221e-02 9.99778034e-01 0.00000000e+00 -7.10615130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87546892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.76, Y:-0.72, Z:-0.01 [[ 9.99706323e-01 -2.42336201e-02 0.00000000e+00 1.29757585e+02] [ 2.42336201e-02 9.99706323e-01 0.00000000e+00 -7.17778475e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39422471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:129.82, Y:-0.72, Z:0.01 [[ 9.99872956e-01 -1.59396069e-02 0.00000000e+00 1.29818969e+02] [ 1.59396069e-02 9.99872956e-01 0.00000000e+00 -7.18537860e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45616670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.88, Y:-0.71, Z:-0.01 [[ 9.99955305e-01 -9.45455376e-03 0.00000000e+00 1.29880042e+02] [ 9.45455376e-03 9.99955305e-01 0.00000000e+00 -7.13324753e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.99319888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:-0.72, Z:-0.01 [[ 9.99996965e-01 -2.46382267e-03 0.00000000e+00 1.29940968e+02] [ 2.46382267e-03 9.99996965e-01 0.00000000e+00 -7.21169567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76744076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.00, Y:-0.72, Z:0.01 [[ 9.99999874e-01 5.01693958e-04 0.00000000e+00 1.30001696e+02] [-5.01693958e-04 9.99999874e-01 0.00000000e+00 -7.17362796e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22476913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:-0.71, Z:0.01 [[ 9.99988151e-01 4.86809305e-03 0.00000000e+00 1.30061757e+02] [-4.86809305e-03 9.99988151e-01 0.00000000e+00 -7.06593853e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58073427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:-0.71, Z:-0.01 [[ 9.99961981e-01 8.71988808e-03 0.00000000e+00 1.30122535e+02] [-8.71988808e-03 9.99961981e-01 0.00000000e+00 -7.06543748e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32603773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.18, Y:-0.70, Z:0.01 [[ 9.99941985e-01 1.07715408e-02 0.00000000e+00 1.30182720e+02] [-1.07715408e-02 9.99941985e-01 0.00000000e+00 -7.04525256e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52522716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:130.24, Y:-0.70, Z:-0.01 [[ 9.99951181e-01 9.88103981e-03 0.00000000e+00 1.30243496e+02] [-9.88103981e-03 9.99951181e-01 0.00000000e+00 -7.03833084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16521654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.30, Y:-0.70, Z:-0.01 [[ 9.99964069e-01 8.47707841e-03 0.00000000e+00 1.30303602e+02] [-8.47707841e-03 9.99964069e-01 0.00000000e+00 -7.01876176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50757003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:130.36, Y:-0.70, Z:0.00 [[ 9.99944245e-01 1.05597245e-02 0.00000000e+00 1.30364334e+02] [-1.05597245e-02 9.99944245e-01 0.00000000e+00 -7.02810640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76200960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.42, Y:-0.70, Z:-0.01 [[ 9.99914985e-01 1.30392499e-02 0.00000000e+00 1.30424988e+02] [-1.30392499e-02 9.99914985e-01 0.00000000e+00 -7.04594972e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.07733739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.48, Y:-0.70, Z:-0.01 [[ 9.99883350e-01 1.52737004e-02 0.00000000e+00 1.30484584e+02] [-1.52737004e-02 9.99883350e-01 0.00000000e+00 -7.03326857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96235961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.54, Y:-0.70, Z:-0.01 [[ 9.99823837e-01 1.87695189e-02 0.00000000e+00 1.30544463e+02] [-1.87695189e-02 9.99823837e-01 0.00000000e+00 -7.03265669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10169873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.60, Y:-0.70, Z:-0.01 [[ 9.99687040e-01 2.50164220e-02 0.00000000e+00 1.30603702e+02] [-2.50164220e-02 9.99687040e-01 0.00000000e+00 -6.95459380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01575146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.66, Y:-0.70, Z:-0.01 [[ 9.99635455e-01 2.69992113e-02 0.00000000e+00 1.30663647e+02] [-2.69992113e-02 9.99635455e-01 0.00000000e+00 -6.95939512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45139298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:-0.69, Z:-0.01 [[ 9.99601956e-01 2.82122175e-02 0.00000000e+00 1.30723186e+02] [-2.82122175e-02 9.99601956e-01 0.00000000e+00 -6.94382310e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76076024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:-0.69, Z:0.00 [[ 9.99560265e-01 2.96526141e-02 0.00000000e+00 1.30781998e+02] [-2.96526141e-02 9.99560265e-01 0.00000000e+00 -6.85805878e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09763561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.84, Y:-0.68, Z:0.00 [[ 9.99583384e-01 2.88627486e-02 0.00000000e+00 1.30840888e+02] [-2.88627486e-02 9.99583384e-01 0.00000000e+00 -6.75540618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52905158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:-0.68, Z:-0.01 [[ 9.99591329e-01 2.85862834e-02 0.00000000e+00 1.30899817e+02] [-2.85862834e-02 9.99591329e-01 0.00000000e+00 -6.75344473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31473093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.96, Y:-0.66, Z:-0.01 [[ 9.99732790e-01 2.31159821e-02 0.00000000e+00 1.30958787e+02] [-2.31159821e-02 9.99732790e-01 0.00000000e+00 -6.60095270e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.37230861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.02, Y:-0.65, Z:0.00 [[ 9.99813378e-01 1.93186473e-02 0.00000000e+00 1.31017883e+02] [-1.93186473e-02 9.99813378e-01 0.00000000e+00 -6.52468299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44775242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.08, Y:-0.65, Z:-0.01 [[ 9.99935342e-01 1.13715036e-02 0.00000000e+00 1.31076417e+02] [-1.13715036e-02 9.99935342e-01 0.00000000e+00 -6.47126480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.97127696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.14, Y:-0.64, Z:-0.01 [[ 9.99993612e-01 3.57434632e-03 0.00000000e+00 1.31135705e+02] [-3.57434632e-03 9.99993612e-01 0.00000000e+00 -6.43985533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00534635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.20, Y:-0.64, Z:-0.01 [[ 9.99997879e-01 -2.05983716e-03 0.00000000e+00 1.31196284e+02] [ 2.05983716e-03 9.99997879e-01 0.00000000e+00 -6.39446212e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02456412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.26, Y:-0.64, Z:0.01 [[ 9.99980336e-01 -6.27111981e-03 0.00000000e+00 1.31256853e+02] [ 6.27111981e-03 9.99980336e-01 0.00000000e+00 -6.36088618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47461139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.32, Y:-0.64, Z:-0.01 [[ 9.99902846e-01 -1.39390956e-02 0.00000000e+00 1.31318327e+02] [ 1.39390956e-02 9.99902846e-01 0.00000000e+00 -6.38160681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42237715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.38, Y:-0.64, Z:-0.01 [[ 9.99817122e-01 -1.91238920e-02 0.00000000e+00 1.31380503e+02] [ 1.91238920e-02 9.99817122e-01 0.00000000e+00 -6.40039909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15738327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.44, Y:-0.65, Z:-0.01 [[ 9.99553788e-01 -2.98701285e-02 0.00000000e+00 1.31442646e+02] [ 2.98701285e-02 9.99553788e-01 0.00000000e+00 -6.46005503e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00512262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.51, Y:-0.65, Z:-0.01 [[ 9.99275928e-01 -3.80475963e-02 0.00000000e+00 1.31505530e+02] [ 3.80475963e-02 9.99275928e-01 0.00000000e+00 -6.50280307e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06763124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.57, Y:-0.66, Z:-0.01 [[ 9.98740817e-01 -5.01675186e-02 0.00000000e+00 1.31567674e+02] [ 5.01675186e-02 9.98740817e-01 0.00000000e+00 -6.59209180e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19822920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.63, Y:-0.67, Z:-0.01 [[ 9.98521668e-01 -5.43551158e-02 0.00000000e+00 1.31630186e+02] [ 5.43551158e-02 9.98521668e-01 0.00000000e+00 -6.73375067e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31444014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.69, Y:-0.68, Z:-0.00 [[ 9.98607775e-01 -5.27495265e-02 0.00000000e+00 1.31692500e+02] [ 5.27495265e-02 9.98607775e-01 0.00000000e+00 -6.84797028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.79246043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.75, Y:-0.69, Z:-0.01 [[ 9.98725156e-01 -5.04783450e-02 0.00000000e+00 1.31754267e+02] [ 5.04783450e-02 9.98725156e-01 0.00000000e+00 -6.90206115e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05539962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.82, Y:-0.71, Z:-0.01 [[ 9.98920067e-01 -4.64618197e-02 0.00000000e+00 1.31816478e+02] [ 4.64618197e-02 9.98920067e-01 0.00000000e+00 -7.08446636e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01855312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.88, Y:-0.72, Z:-0.01 [[ 9.99063962e-01 -4.32573567e-02 0.00000000e+00 1.31879089e+02] [ 4.32573567e-02 9.99063962e-01 0.00000000e+00 -7.16095130e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94907261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.94, Y:-0.73, Z:-0.01 [[ 9.99318244e-01 -3.69194588e-02 0.00000000e+00 1.31940246e+02] [ 3.69194588e-02 9.99318244e-01 0.00000000e+00 -7.26979555e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75356942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.00, Y:-0.74, Z:-0.01 [[ 9.99494872e-01 -3.17805010e-02 0.00000000e+00 1.32001041e+02] [ 3.17805010e-02 9.99494872e-01 0.00000000e+00 -7.35449526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.16178506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.06, Y:-0.75, Z:0.01 [[ 9.99806249e-01 -1.96841410e-02 0.00000000e+00 1.32061325e+02] [ 1.96841410e-02 9.99806249e-01 0.00000000e+00 -7.45667290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18283068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.12, Y:-0.75, Z:-0.01 [[ 9.99898941e-01 -1.42164532e-02 0.00000000e+00 1.32121922e+02] [ 1.42164532e-02 9.99898941e-01 0.00000000e+00 -7.48979633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69996630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:-0.75, Z:-0.01 [[ 9.99997872e-01 -2.06285945e-03 0.00000000e+00 1.32182735e+02] [ 2.06285945e-03 9.99997872e-01 0.00000000e+00 -7.51805713e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.85650437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:-0.75, Z:0.01 [[ 9.99934615e-01 1.14353089e-02 0.00000000e+00 1.32242877e+02] [-1.14353089e-02 9.99934615e-01 0.00000000e+00 -7.52194506e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44282379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.30, Y:-0.75, Z:-0.01 [[ 9.99887910e-01 1.49722530e-02 0.00000000e+00 1.32303022e+02] [-1.49722530e-02 9.99887910e-01 0.00000000e+00 -7.51049975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09338361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.36, Y:-0.75, Z:-0.01 [[ 9.99834417e-01 1.81972242e-02 0.00000000e+00 1.32363482e+02] [-1.81972242e-02 9.99834417e-01 0.00000000e+00 -7.49353227e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10727988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.42, Y:-0.75, Z:-0.01 [[ 9.99771904e-01 2.13574312e-02 0.00000000e+00 1.32423618e+02] [-2.13574312e-02 9.99771904e-01 0.00000000e+00 -7.46379904e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51194665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.48, Y:-0.75, Z:-0.01 [[ 9.99794365e-01 2.02787562e-02 0.00000000e+00 1.32484221e+02] [-2.02787562e-02 9.99794365e-01 0.00000000e+00 -7.48292869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83519386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.54, Y:-0.74, Z:0.00 [[ 9.99849298e-01 1.73603137e-02 0.00000000e+00 1.32544300e+02] [-1.73603137e-02 9.99849298e-01 0.00000000e+00 -7.44429541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40724079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:-0.74, Z:-0.01 [[ 9.99929979e-01 1.18337596e-02 0.00000000e+00 1.32604588e+02] [-1.18337596e-02 9.99929979e-01 0.00000000e+00 -7.44787677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92995402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:-0.75, Z:-0.01 [[ 9.99944427e-01 1.05424173e-02 0.00000000e+00 1.32664665e+02] [-1.05424173e-02 9.99944427e-01 0.00000000e+00 -7.46350689e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80466749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.73, Y:-0.75, Z:0.00 [[ 9.99970634e-01 7.66363856e-03 0.00000000e+00 1.32725503e+02] [-7.66363856e-03 9.99970634e-01 0.00000000e+00 -7.48416178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43273796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.79, Y:-0.75, Z:-0.01 [[ 9.99984046e-01 5.64868862e-03 0.00000000e+00 1.32786086e+02] [-5.64868862e-03 9.99984046e-01 0.00000000e+00 -7.50267885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03086061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.85, Y:-0.74, Z:-0.01 [[ 9.99959200e-01 9.03321765e-03 0.00000000e+00 1.32846418e+02] [-9.03321765e-03 9.99959200e-01 0.00000000e+00 -7.38830035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72696829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.91, Y:-0.74, Z:-0.01 [[ 9.99928768e-01 1.19356179e-02 0.00000000e+00 1.32906951e+02] [-1.19356179e-02 9.99928768e-01 0.00000000e+00 -7.36799949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00820120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.97, Y:-0.73, Z:0.00 [[ 9.99882825e-01 1.53080727e-02 0.00000000e+00 1.32967760e+02] [-1.53080727e-02 9.99882825e-01 0.00000000e+00 -7.32998657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85937225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.03, Y:-0.73, Z:-0.01 [[ 9.99890243e-01 1.48155977e-02 0.00000000e+00 1.33028382e+02] [-1.48155977e-02 9.99890243e-01 0.00000000e+00 -7.27475318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47699838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.09, Y:-0.72, Z:-0.01 [[ 9.99894813e-01 1.45039097e-02 0.00000000e+00 1.33089009e+02] [-1.45039097e-02 9.99894813e-01 0.00000000e+00 -7.23603993e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19700736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.15, Y:-0.72, Z:-0.01 [[ 9.99903659e-01 1.38806815e-02 0.00000000e+00 1.33149716e+02] [-1.38806815e-02 9.99903659e-01 0.00000000e+00 -7.23388892e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67435163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.21, Y:-0.72, Z:-0.01 [[ 9.99918700e-01 1.27511729e-02 0.00000000e+00 1.33209961e+02] [-1.27511729e-02 9.99918700e-01 0.00000000e+00 -7.20390844e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92764844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.422320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:133.27, Y:-0.71, Z:-0.01 [[ 9.99910012e-01 1.34151791e-02 0.00000000e+00 1.33270002e+02] [-1.34151791e-02 9.99910012e-01 0.00000000e+00 -7.12325334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30294393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.33, Y:-0.71, Z:-0.01 [[ 9.99879498e-01 1.55238357e-02 0.00000000e+00 1.33330168e+02] [-1.55238357e-02 9.99879498e-01 0.00000000e+00 -7.05923276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.78059237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.39, Y:-0.71, Z:0.01 [[ 9.99950278e-01 9.97203280e-03 0.00000000e+00 1.33389725e+02] [-9.97203280e-03 9.99950278e-01 0.00000000e+00 -7.05340830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68924038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.45, Y:-0.71, Z:-0.01 [[ 9.99999133e-01 1.31660412e-03 0.00000000e+00 1.33449113e+02] [-1.31660412e-03 9.99999133e-01 0.00000000e+00 -7.06455200e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.16398249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.51, Y:-0.71, Z:-0.01 [[ 9.99985783e-01 -5.33236786e-03 0.00000000e+00 1.33509791e+02] [ 5.33236786e-03 9.99985783e-01 0.00000000e+00 -7.07872620e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71016154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:-0.71, Z:-0.01 [[ 9.99952773e-01 -9.71864840e-03 0.00000000e+00 1.33570616e+02] [ 9.71864840e-03 9.99952773e-01 0.00000000e+00 -7.10278423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13856702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.63, Y:-0.72, Z:-0.01 [[ 9.99976054e-01 -6.92029687e-03 0.00000000e+00 1.33630856e+02] [ 6.92029687e-03 9.99976054e-01 0.00000000e+00 -7.16952659e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.53425952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:133.69, Y:-0.71, Z:-0.01 [[ 9.99996426e-01 -2.67349847e-03 0.00000000e+00 1.33691684e+02] [ 2.67349847e-03 9.99996426e-01 0.00000000e+00 -7.10205975e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40682864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.75, Y:-0.71, Z:-0.01 [[ 9.99999908e-01 4.29781419e-04 0.00000000e+00 1.33752035e+02] [-4.29781419e-04 9.99999908e-01 0.00000000e+00 -7.08177094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.99318568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.81, Y:-0.71, Z:-0.01 [[ 9.99999895e-01 4.57485494e-04 0.00000000e+00 1.33812126e+02] [-4.57485494e-04 9.99999895e-01 0.00000000e+00 -7.13376956e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06590180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02232058799999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:133.87, Y:-0.71, Z:-0.01 [[ 9.99999477e-01 1.02265293e-03 0.00000000e+00 1.33872421e+02] [-1.02265293e-03 9.99999477e-01 0.00000000e+00 -7.10389541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.62549984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:133.93, Y:-0.71, Z:-0.01 [[ 9.99996357e-01 2.69932103e-03 0.00000000e+00 1.33933340e+02] [-2.69932103e-03 9.99996357e-01 0.00000000e+00 -7.13583921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07259685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.99, Y:-0.72, Z:-0.01 [[ 9.99991123e-01 4.21362578e-03 0.00000000e+00 1.33993725e+02] [-4.21362578e-03 9.99991123e-01 0.00000000e+00 -7.15677722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39551234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:134.05, Y:-0.72, Z:-0.01 [[ 9.99999823e-01 5.94875407e-04 0.00000000e+00 1.34053832e+02] [-5.94875407e-04 9.99999823e-01 0.00000000e+00 -7.17747486e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81605215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.11, Y:-0.72, Z:-0.01 [[ 9.99996228e-01 -2.74678068e-03 0.00000000e+00 1.34114004e+02] [ 2.74678068e-03 9.99996228e-01 0.00000000e+00 -7.22298965e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.44134912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:134.17, Y:-0.73, Z:-0.01 [[ 9.99998085e-01 -1.95717536e-03 0.00000000e+00 1.34174714e+02] [ 1.95717536e-03 9.99998085e-01 0.00000000e+00 -7.27761010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01088830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:134.24, Y:-0.74, Z:-0.01 [[ 9.99998395e-01 -1.79174601e-03 0.00000000e+00 1.34235561e+02] [ 1.79174601e-03 9.99998395e-01 0.00000000e+00 -7.36355329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01870419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:134.30, Y:-0.73, Z:-0.01 [[ 9.99999969e-01 -2.48284821e-04 0.00000000e+00 1.34296397e+02] [ 2.48284821e-04 9.99999969e-01 0.00000000e+00 -7.31878290e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34801516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:134.36, Y:-0.73, Z:-0.01 [[ 9.99988243e-01 4.84904244e-03 0.00000000e+00 1.34357133e+02] [-4.84904244e-03 9.99988243e-01 0.00000000e+00 -7.33075371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86579403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:134.42, Y:-0.74, Z:-0.01 [[ 9.99975181e-01 7.04536565e-03 0.00000000e+00 1.34417261e+02] [-7.04536565e-03 9.99975181e-01 0.00000000e+00 -7.38165298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27303857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.48, Y:-0.74, Z:-0.01 [[ 9.99979611e-01 6.38566484e-03 0.00000000e+00 1.34477496e+02] [-6.38566484e-03 9.99979611e-01 0.00000000e+00 -7.38338107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52800493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:134.54, Y:-0.73, Z:-0.01 [[ 9.99974714e-01 7.11140926e-03 0.00000000e+00 1.34538346e+02] [-7.11140926e-03 9.99974714e-01 0.00000000e+00 -7.33607931e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07112058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742320588 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:134.60, Y:-0.74, Z:0.01 [[ 9.99984047e-01 5.64860482e-03 0.00000000e+00 1.34598456e+02] [-5.64860482e-03 9.99984047e-01 0.00000000e+00 -7.37454190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10054764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.802320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:134.66, Y:-0.75, Z:-0.01 [[ 9.99997961e-01 -2.01952605e-03 0.00000000e+00 1.34659011e+02] [ 2.01952605e-03 9.99997961e-01 0.00000000e+00 -7.45154726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65315021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:-0.75, Z:-0.01 [[ 9.99916118e-01 -1.29521086e-02 0.00000000e+00 1.34719170e+02] [ 1.29521086e-02 9.99916118e-01 0.00000000e+00 -7.50378466e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31969878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.78, Y:-0.76, Z:-0.01 [[ 9.99906011e-01 -1.37101770e-02 0.00000000e+00 1.34779899e+02] [ 1.37101770e-02 9.99906011e-01 0.00000000e+00 -7.56784120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.11445815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.84, Y:-0.77, Z:-0.01 [[ 9.99909118e-01 -1.34816515e-02 0.00000000e+00 1.34840062e+02] [ 1.34816515e-02 9.99909118e-01 0.00000000e+00 -7.70251272e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67639590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.90, Y:-0.79, Z:-0.01 [[ 9.99868642e-01 -1.62080074e-02 0.00000000e+00 1.34900949e+02] [ 1.62080074e-02 9.99868642e-01 0.00000000e+00 -7.85026215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81626641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.96, Y:-0.80, Z:-0.01 [[ 9.99870370e-01 -1.61010062e-02 0.00000000e+00 1.34961378e+02] [ 1.61010062e-02 9.99870370e-01 0.00000000e+00 -7.97308862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.91077397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.02, Y:-0.80, Z:-0.01 [[ 9.99934393e-01 -1.14547027e-02 0.00000000e+00 1.35021295e+02] [ 1.14547027e-02 9.99934393e-01 0.00000000e+00 -8.04249942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.06627208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.08, Y:-0.81, Z:-0.01 [[ 9.99992955e-01 -3.75377583e-03 0.00000000e+00 1.35081293e+02] [ 3.75377583e-03 9.99992955e-01 0.00000000e+00 -8.10305057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.87422086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:-0.81, Z:0.01 [[ 9.99962582e-01 8.65066146e-03 0.00000000e+00 1.35141983e+02] [-8.65066146e-03 9.99962582e-01 0.00000000e+00 -8.13142869e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31108557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:-0.81, Z:-0.01 [[ 9.99614234e-01 2.77737952e-02 0.00000000e+00 1.35202709e+02] [-2.77737952e-02 9.99614234e-01 0.00000000e+00 -8.07864283e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.36982151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.26, Y:-0.80, Z:-0.01 [[ 9.99230861e-01 3.92133444e-02 0.00000000e+00 1.35263359e+02] [-3.92133444e-02 9.99230861e-01 0.00000000e+00 -8.03254982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.13311480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:-0.79, Z:-0.00 [[ 9.98680319e-01 5.13577763e-02 0.00000000e+00 1.35324267e+02] [-5.13577763e-02 9.98680319e-01 0.00000000e+00 -7.90709749e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73746951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.38, Y:-0.78, Z:-0.01 [[ 9.98397933e-01 5.65824033e-02 0.00000000e+00 1.35384699e+02] [-5.65824033e-02 9.98397933e-01 0.00000000e+00 -7.80282478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14794932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.45, Y:-0.77, Z:-0.01 [[ 9.98381542e-01 5.68708764e-02 0.00000000e+00 1.35445224e+02] [-5.68708764e-02 9.98381542e-01 0.00000000e+00 -7.67298348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52670316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.51, Y:-0.76, Z:-0.01 [[ 9.98758933e-01 4.98055661e-02 0.00000000e+00 1.35505983e+02] [-4.98055661e-02 9.98758933e-01 0.00000000e+00 -7.57325877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79291756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:-0.75, Z:-0.01 [[ 9.99295489e-01 3.75303347e-02 0.00000000e+00 1.35566207e+02] [-3.75303347e-02 9.99295489e-01 0.00000000e+00 -7.46009490e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.82958502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:-0.74, Z:-0.00 [[ 9.99677581e-01 2.53916245e-02 0.00000000e+00 1.35625925e+02] [-2.53916245e-02 9.99677581e-01 0.00000000e+00 -7.41561394e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76560185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.69, Y:-0.74, Z:-0.01 [[ 9.99827401e-01 1.85786986e-02 0.00000000e+00 1.35686018e+02] [-1.85786986e-02 9.99827401e-01 0.00000000e+00 -7.38105741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87754339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:-0.74, Z:-0.01 [[ 9.99952572e-01 9.73933830e-03 0.00000000e+00 1.35746464e+02] [-9.73933830e-03 9.99952572e-01 0.00000000e+00 -7.41518832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41570887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.81, Y:-0.74, Z:-0.00 [[ 9.99979752e-01 6.36360700e-03 0.00000000e+00 1.35806976e+02] [-6.36360700e-03 9.99979752e-01 0.00000000e+00 -7.36438536e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86701232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.87, Y:-0.73, Z:-0.01 [[ 9.99987447e-01 5.01050531e-03 0.00000000e+00 1.35867000e+02] [-5.01050531e-03 9.99987447e-01 0.00000000e+00 -7.28928717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88088561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.93, Y:-0.74, Z:-0.01 [[ 9.99999890e-01 4.69014048e-04 0.00000000e+00 1.35927787e+02] [-4.69014048e-04 9.99999890e-01 0.00000000e+00 -7.35369122e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77058293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.99, Y:-0.74, Z:-0.00 [[ 9.99996188e-01 -2.76124209e-03 0.00000000e+00 1.35988328e+02] [ 2.76124209e-03 9.99996188e-01 0.00000000e+00 -7.36102885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51265822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.05, Y:-0.73, Z:-0.01 [[ 9.99995883e-01 -2.86934383e-03 0.00000000e+00 1.36049239e+02] [ 2.86934383e-03 9.99995883e-01 0.00000000e+00 -7.31464850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.45319884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.11, Y:-0.74, Z:-0.01 [[ 9.99998719e-01 -1.60054732e-03 0.00000000e+00 1.36109626e+02] [ 1.60054732e-03 9.99998719e-01 0.00000000e+00 -7.37679163e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.21966064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.17, Y:-0.74, Z:-0.00 [[ 9.99993345e-01 -3.64828828e-03 0.00000000e+00 1.36170503e+02] [ 3.64828828e-03 9.99993345e-01 0.00000000e+00 -7.42354399e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75255075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.23, Y:-0.74, Z:-0.00 [[ 9.99994976e-01 -3.16972889e-03 0.00000000e+00 1.36230819e+02] [ 3.16972889e-03 9.99994976e-01 0.00000000e+00 -7.41562943e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69606215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.29, Y:-0.74, Z:-0.01 [[ 9.99994584e-01 3.29115996e-03 0.00000000e+00 1.36290907e+02] [-3.29115996e-03 9.99994584e-01 0.00000000e+00 -7.42521672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.85978836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.35, Y:-0.75, Z:-0.00 [[ 9.99974298e-01 7.16955360e-03 0.00000000e+00 1.36351254e+02] [-7.16955360e-03 9.99974298e-01 0.00000000e+00 -7.47553017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69097346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.41, Y:-0.75, Z:-0.01 [[ 9.99968382e-01 7.95207261e-03 0.00000000e+00 1.36411830e+02] [-7.95207261e-03 9.99968382e-01 0.00000000e+00 -7.48663045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19698858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.47, Y:-0.75, Z:-0.01 [[ 9.99964975e-01 8.36950365e-03 0.00000000e+00 1.36472328e+02] [-8.36950365e-03 9.99964975e-01 0.00000000e+00 -7.46450888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22177129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.53, Y:-0.75, Z:-0.00 [[ 9.99939463e-01 1.10032052e-02 0.00000000e+00 1.36532926e+02] [-1.10032052e-02 9.99939463e-01 0.00000000e+00 -7.48478995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21989013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.59, Y:-0.75, Z:0.00 [[ 9.99935417e-01 1.13649005e-02 0.00000000e+00 1.36593443e+02] [-1.13649005e-02 9.99935417e-01 0.00000000e+00 -7.48456370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54140097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:-0.75, Z:0.01 [[ 9.99982486e-01 5.91841421e-03 0.00000000e+00 1.36653700e+02] [-5.91841421e-03 9.99982486e-01 0.00000000e+00 -7.53122774e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05032842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:-0.76, Z:-0.00 [[ 9.99999434e-01 1.06379385e-03 0.00000000e+00 1.36714044e+02] [-1.06379385e-03 9.99999434e-01 0.00000000e+00 -7.56335780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75387001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:-0.76, Z:-0.01 [[ 9.99999641e-01 8.46947699e-04 0.00000000e+00 1.36774300e+02] [-8.46947699e-04 9.99999641e-01 0.00000000e+00 -7.55407586e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.37423073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.84, Y:-0.76, Z:-0.01 [[ 9.99997613e-01 -2.18481500e-03 0.00000000e+00 1.36835185e+02] [ 2.18481500e-03 9.99997613e-01 0.00000000e+00 -7.61786174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43680010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:136.90, Y:-0.77, Z:0.01 [[ 9.99982126e-01 -5.97892617e-03 0.00000000e+00 1.36895779e+02] [ 5.97892617e-03 9.99982126e-01 0.00000000e+00 -7.68587893e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51552223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.96, Y:-0.78, Z:-0.01 [[ 9.99966974e-01 -8.12720360e-03 0.00000000e+00 1.36955931e+02] [ 8.12720360e-03 9.99966974e-01 0.00000000e+00 -7.76608726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34214564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.02, Y:-0.78, Z:-0.01 [[ 9.99980971e-01 -6.16903402e-03 0.00000000e+00 1.37016733e+02] [ 6.16903402e-03 9.99980971e-01 0.00000000e+00 -7.78732914e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75250885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.08, Y:-0.78, Z:-0.00 [[ 9.99996003e-01 2.82744620e-03 0.00000000e+00 1.37077310e+02] [-2.82744620e-03 9.99996003e-01 0.00000000e+00 -7.83207460e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34506691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:-0.79, Z:-0.01 [[ 9.99973053e-01 7.34120705e-03 0.00000000e+00 1.37138115e+02] [-7.34120705e-03 9.99973053e-01 0.00000000e+00 -7.86993802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78871107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.20, Y:-0.79, Z:-0.01 [[ 9.99937244e-01 1.12030124e-02 0.00000000e+00 1.37198119e+02] [-1.12030124e-02 9.99937244e-01 0.00000000e+00 -7.93369950e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73313940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.26, Y:-0.79, Z:-0.01 [[ 9.99850247e-01 1.73055856e-02 0.00000000e+00 1.37259078e+02] [-1.73055856e-02 9.99850247e-01 0.00000000e+00 -7.90152668e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29624964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.32, Y:-0.79, Z:-0.01 [[ 9.99727359e-01 2.33496775e-02 0.00000000e+00 1.37319247e+02] [-2.33496775e-02 9.99727359e-01 0.00000000e+00 -7.89163857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.67558114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.38, Y:-0.79, Z:-0.01 [[ 9.99648346e-01 2.65176173e-02 0.00000000e+00 1.37380286e+02] [-2.65176173e-02 9.99648346e-01 0.00000000e+00 -7.90696646e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49914674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.44, Y:-0.78, Z:-0.01 [[ 9.99681816e-01 2.52243327e-02 0.00000000e+00 1.37440590e+02] [-2.52243327e-02 9.99681816e-01 0.00000000e+00 -7.84760963e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67517235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.50, Y:-0.78, Z:-0.01 [[ 9.99782034e-01 2.08778510e-02 0.00000000e+00 1.37501424e+02] [-2.08778510e-02 9.99782034e-01 0.00000000e+00 -7.82467711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00931924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.56, Y:-0.78, Z:0.00 [[ 9.99766996e-01 2.15859763e-02 0.00000000e+00 1.37561705e+02] [-2.15859763e-02 9.99766996e-01 0.00000000e+00 -7.81139772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45265417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.62, Y:-0.78, Z:-0.01 [[ 9.99905409e-01 1.37540153e-02 0.00000000e+00 1.37622141e+02] [-1.37540153e-02 9.99905409e-01 0.00000000e+00 -7.81546581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09781024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.68, Y:-0.78, Z:-0.01 [[ 9.99967829e-01 8.02126256e-03 0.00000000e+00 1.37682553e+02] [-8.02126256e-03 9.99967829e-01 0.00000000e+00 -7.81759617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06917194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.74, Y:-0.78, Z:-0.01 [[ 9.99991045e-01 4.23200531e-03 0.00000000e+00 1.37742705e+02] [-4.23200531e-03 9.99991045e-01 0.00000000e+00 -7.82410093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13918358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.80, Y:-0.78, Z:-0.01 [[ 9.99996338e-01 2.70628965e-03 0.00000000e+00 1.37803831e+02] [-2.70628965e-03 9.99996338e-01 0.00000000e+00 -7.83326179e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74931660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:137.86, Y:-0.79, Z:-0.01 [[ 9.99996612e-01 2.60305701e-03 0.00000000e+00 1.37864666e+02] [-2.60305701e-03 9.99996612e-01 0.00000000e+00 -7.85759095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10572490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:-0.78, Z:-0.01 [[ 9.99999410e-01 1.08662451e-03 0.00000000e+00 1.37925573e+02] [-1.08662451e-03 9.99999410e-01 0.00000000e+00 -7.83707889e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36049095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.99, Y:-0.78, Z:-0.01 [[ 9.99999776e-01 -6.69597725e-04 0.00000000e+00 1.37986294e+02] [ 6.69597725e-04 9.99999776e-01 0.00000000e+00 -7.83386054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31954768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.05, Y:-0.79, Z:-0.01 [[ 9.99999408e-01 -1.08820065e-03 0.00000000e+00 1.38046966e+02] [ 1.08820065e-03 9.99999408e-01 0.00000000e+00 -7.87445589e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32307699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.11, Y:-0.79, Z:-0.01 [[ 9.99997200e-01 -2.36627229e-03 0.00000000e+00 1.38107593e+02] [ 2.36627229e-03 9.99997200e-01 0.00000000e+00 -7.89719870e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25074247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.17, Y:-0.79, Z:-0.01 [[ 9.99999835e-01 -5.74806867e-04 0.00000000e+00 1.38167902e+02] [ 5.74806867e-04 9.99999835e-01 0.00000000e+00 -7.87424635e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28650888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.23, Y:-0.79, Z:0.00 [[ 9.99997028e-01 2.43822806e-03 0.00000000e+00 1.38227969e+02] [-2.43822806e-03 9.99997028e-01 0.00000000e+00 -7.86885751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50242081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:138.29, Y:-0.79, Z:0.01 [[ 9.99985057e-01 5.46681142e-03 0.00000000e+00 1.38288932e+02] [-5.46681142e-03 9.99985057e-01 0.00000000e+00 -7.91566011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01953257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.35, Y:-0.79, Z:-0.01 [[ 9.99957616e-01 9.20683063e-03 0.00000000e+00 1.38349433e+02] [-9.20683063e-03 9.99957616e-01 0.00000000e+00 -7.88579357e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12411013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.41, Y:-0.79, Z:-0.01 [[ 9.99962252e-01 8.68870959e-03 0.00000000e+00 1.38409468e+02] [-8.68870959e-03 9.99962252e-01 0.00000000e+00 -7.87843406e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16557004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.47, Y:-0.79, Z:-0.01 [[ 9.99960557e-01 8.88174382e-03 0.00000000e+00 1.38470260e+02] [-8.88174382e-03 9.99960557e-01 0.00000000e+00 -7.92784268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15816325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.53, Y:-0.79, Z:-0.01 [[ 9.99946265e-01 1.03666264e-02 0.00000000e+00 1.38530384e+02] [-1.03666264e-02 9.99946265e-01 0.00000000e+00 -7.90688252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10608259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.59, Y:-0.79, Z:-0.01 [[ 9.99942375e-01 1.07352734e-02 0.00000000e+00 1.38590946e+02] [-1.07352734e-02 9.99942375e-01 0.00000000e+00 -7.87082665e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15244882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.65, Y:-0.79, Z:-0.01 [[ 9.99934439e-01 1.14506582e-02 0.00000000e+00 1.38651498e+02] [-1.14506582e-02 9.99934439e-01 0.00000000e+00 -7.90318498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17833118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.71, Y:-0.79, Z:-0.01 [[ 9.99938660e-01 1.10759021e-02 0.00000000e+00 1.38712336e+02] [-1.10759021e-02 9.99938660e-01 0.00000000e+00 -7.88708706e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03530694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.77, Y:-0.78, Z:0.01 [[ 9.99941537e-01 1.08131088e-02 0.00000000e+00 1.38773317e+02] [-1.08131088e-02 9.99941537e-01 0.00000000e+00 -7.82848754e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26715252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.83, Y:-0.78, Z:-0.01 [[ 9.99961459e-01 8.77950376e-03 0.00000000e+00 1.38833575e+02] [-8.77950376e-03 9.99961459e-01 0.00000000e+00 -7.84433066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11322727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.89, Y:-0.79, Z:-0.01 [[ 9.99968525e-01 7.93404410e-03 0.00000000e+00 1.38894138e+02] [-7.93404410e-03 9.99968525e-01 0.00000000e+00 -7.87410068e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15108647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.95, Y:-0.79, Z:-0.01 [[ 9.99998389e-01 1.79482209e-03 0.00000000e+00 1.38954711e+02] [-1.79482209e-03 9.99998389e-01 0.00000000e+00 -7.90326628e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50628605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.01, Y:-0.79, Z:0.01 [[ 9.99999313e-01 1.17210408e-03 0.00000000e+00 1.39014997e+02] [-1.17210408e-03 9.99999313e-01 0.00000000e+00 -7.88854120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18898232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.08, Y:-0.79, Z:0.00 [[ 9.99979360e-01 6.42494841e-03 0.00000000e+00 1.39075385e+02] [-6.42494841e-03 9.99979360e-01 0.00000000e+00 -7.89065507e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65585522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:-0.80, Z:-0.01 [[ 9.99971351e-01 7.56946413e-03 0.00000000e+00 1.39135761e+02] [-7.56946413e-03 9.99971351e-01 0.00000000e+00 -7.98495384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12746905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.20, Y:-0.80, Z:-0.01 [[ 9.99984790e-01 5.51540992e-03 0.00000000e+00 1.39196144e+02] [-5.51540992e-03 9.99984790e-01 0.00000000e+00 -8.02832052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12540183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.26, Y:-0.80, Z:-0.01 [[ 9.99981845e-01 6.02570673e-03 0.00000000e+00 1.39256640e+02] [-6.02570673e-03 9.99981845e-01 0.00000000e+00 -8.00909802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29299705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.32, Y:-0.80, Z:-0.01 [[ 9.99945749e-01 1.04163018e-02 0.00000000e+00 1.39317377e+02] [-1.04163018e-02 9.99945749e-01 0.00000000e+00 -8.01291017e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63510259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:-0.80, Z:-0.01 [[ 9.99884294e-01 1.52117958e-02 0.00000000e+00 1.39377625e+02] [-1.52117958e-02 9.99884294e-01 0.00000000e+00 -8.04834215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36801290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.44, Y:-0.81, Z:-0.01 [[ 9.99932086e-01 1.16543650e-02 0.00000000e+00 1.39438124e+02] [-1.16543650e-02 9.99932086e-01 0.00000000e+00 -8.13426989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31523939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.50, Y:-0.82, Z:-0.01 [[ 9.99940621e-01 1.08974768e-02 0.00000000e+00 1.39498258e+02] [-1.08974768e-02 9.99940621e-01 0.00000000e+00 -8.17629526e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15444317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.56, Y:-0.82, Z:-0.01 [[ 9.99875007e-01 1.58104576e-02 0.00000000e+00 1.39558826e+02] [-1.58104576e-02 9.99875007e-01 0.00000000e+00 -8.18475737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06488865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.62, Y:-0.82, Z:-0.01 [[ 9.99820301e-01 1.89569587e-02 0.00000000e+00 1.39620050e+02] [-1.89569587e-02 9.99820301e-01 0.00000000e+00 -8.24180552e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18682292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.68, Y:-0.83, Z:-0.01 [[ 9.99764713e-01 2.16914342e-02 0.00000000e+00 1.39681173e+02] [-2.16914342e-02 9.99764713e-01 0.00000000e+00 -8.25858417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.60507051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.74, Y:-0.83, Z:-0.01 [[ 9.99751556e-01 2.22896051e-02 0.00000000e+00 1.39742002e+02] [-2.22896051e-02 9.99751556e-01 0.00000000e+00 -8.26177476e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62591526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.80, Y:-0.82, Z:-0.01 [[ 9.99708921e-01 2.41262060e-02 0.00000000e+00 1.39802975e+02] [-2.41262060e-02 9.99708921e-01 0.00000000e+00 -8.24555276e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68920590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.86, Y:-0.83, Z:-0.01 [[ 9.99688212e-01 2.49695697e-02 0.00000000e+00 1.39863996e+02] [-2.49695697e-02 9.99688212e-01 0.00000000e+00 -8.28072795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.93976227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.93, Y:-0.82, Z:-0.01 [[ 9.99679379e-01 2.53207320e-02 0.00000000e+00 1.39925498e+02] [-2.53207320e-02 9.99679379e-01 0.00000000e+00 -8.21557900e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41479712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.99, Y:-0.81, Z:-0.01 [[ 9.99618241e-01 2.76291977e-02 0.00000000e+00 1.39986830e+02] [-2.76291977e-02 9.99618241e-01 0.00000000e+00 -8.13488107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02296334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.05, Y:-0.81, Z:-0.01 [[ 9.99642897e-01 2.67222580e-02 0.00000000e+00 1.40048550e+02] [-2.67222580e-02 9.99642897e-01 0.00000000e+00 -8.09317042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05282342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.11, Y:-0.81, Z:-0.01 [[ 9.99747176e-01 2.24852109e-02 0.00000000e+00 1.40110244e+02] [-2.24852109e-02 9.99747176e-01 0.00000000e+00 -8.06904029e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36429097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.17, Y:-0.80, Z:-0.01 [[ 9.99865724e-01 1.63870174e-02 0.00000000e+00 1.40170316e+02] [-1.63870174e-02 9.99865724e-01 0.00000000e+00 -8.04788245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27551594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.23, Y:-0.80, Z:-0.01 [[ 9.99947738e-01 1.02235681e-02 0.00000000e+00 1.40230684e+02] [-1.02235681e-02 9.99947738e-01 0.00000000e+00 -8.01588562e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.83003935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.29, Y:-0.79, Z:-0.01 [[ 9.99972817e-01 7.37334583e-03 0.00000000e+00 1.40291453e+02] [-7.37334583e-03 9.99972817e-01 0.00000000e+00 -7.94094104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08900845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.35, Y:-0.79, Z:-0.01 [[ 9.99993013e-01 3.73828922e-03 0.00000000e+00 1.40351978e+02] [-3.73828922e-03 9.99993013e-01 0.00000000e+00 -7.93908197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.85060812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.41, Y:-0.80, Z:-0.01 [[ 9.99983740e-01 -5.70256615e-03 0.00000000e+00 1.40412792e+02] [ 5.70256615e-03 9.99983740e-01 0.00000000e+00 -8.03620802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14174296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.47, Y:-0.81, Z:-0.01 [[ 9.99946319e-01 -1.03614345e-02 0.00000000e+00 1.40473044e+02] [ 1.03614345e-02 9.99946319e-01 0.00000000e+00 -8.05827455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.97812035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.53, Y:-0.80, Z:-0.01 [[ 9.99933891e-01 -1.14984373e-02 0.00000000e+00 1.40533736e+02] [ 1.14984373e-02 9.99933891e-01 0.00000000e+00 -8.04406546e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50319365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:-0.81, Z:-0.01 [[ 9.99933041e-01 -1.15721195e-02 0.00000000e+00 1.40593838e+02] [ 1.15721195e-02 9.99933041e-01 0.00000000e+00 -8.09527176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.50647993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.65, Y:-0.82, Z:-0.01 [[ 9.99921347e-01 -1.25419414e-02 0.00000000e+00 1.40654080e+02] [ 1.25419414e-02 9.99921347e-01 0.00000000e+00 -8.20838194e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.89639175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.71, Y:-0.82, Z:-0.01 [[ 9.99933467e-01 -1.15352677e-02 0.00000000e+00 1.40714179e+02] [ 1.15352677e-02 9.99933467e-01 0.00000000e+00 -8.20148093e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94319980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.78, Y:-0.82, Z:-0.01 [[ 9.99941561e-01 -1.08108211e-02 0.00000000e+00 1.40775016e+02] [ 1.08108211e-02 9.99941561e-01 0.00000000e+00 -8.23509680e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48286189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.84, Y:-0.83, Z:-0.00 [[ 9.99953431e-01 -9.65065676e-03 0.00000000e+00 1.40835198e+02] [ 9.65065676e-03 9.99953431e-01 0.00000000e+00 -8.29204075e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83025310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.90, Y:-0.83, Z:-0.01 [[ 9.99990981e-01 -4.24709336e-03 0.00000000e+00 1.40895814e+02] [ 4.24709336e-03 9.99990981e-01 0.00000000e+00 -8.32575982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.68700637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.96, Y:-0.83, Z:-0.01 [[ 9.99998906e-01 -1.47900381e-03 0.00000000e+00 1.40956141e+02] [ 1.47900381e-03 9.99998906e-01 0.00000000e+00 -8.32108832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.28929751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.02, Y:-0.84, Z:-0.01 [[ 9.99994815e-01 3.22014564e-03 0.00000000e+00 1.41016787e+02] [-3.22014564e-03 9.99994815e-01 0.00000000e+00 -8.37533516e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00315665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.08, Y:-0.84, Z:-0.01 [[ 9.99955731e-01 9.40936649e-03 0.00000000e+00 1.41077269e+02] [-9.40936649e-03 9.99955731e-01 0.00000000e+00 -8.42850010e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.29126296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.14, Y:-0.84, Z:-0.00 [[ 9.99891964e-01 1.46990240e-02 0.00000000e+00 1.41138040e+02] [-1.46990240e-02 9.99891964e-01 0.00000000e+00 -8.41753388e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.79913783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.20, Y:-0.84, Z:-0.00 [[ 9.99733972e-01 2.30647965e-02 0.00000000e+00 1.41199041e+02] [-2.30647965e-02 9.99733972e-01 0.00000000e+00 -8.36242221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15621686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.26, Y:-0.84, Z:-0.00 [[ 9.99664981e-01 2.58829259e-02 0.00000000e+00 1.41260862e+02] [-2.58829259e-02 9.99664981e-01 0.00000000e+00 -8.35423467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.29960893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.32, Y:-0.84, Z:-0.00 [[ 9.99631268e-01 2.71537742e-02 0.00000000e+00 1.41322434e+02] [-2.71537742e-02 9.99631268e-01 0.00000000e+00 -8.36553655e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42158231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.38, Y:-0.83, Z:-0.00 [[ 9.99571127e-01 2.92841575e-02 0.00000000e+00 1.41384035e+02] [-2.92841575e-02 9.99571127e-01 0.00000000e+00 -8.31750662e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24664591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.45, Y:-0.82, Z:-0.00 [[ 9.99415200e-01 3.41944010e-02 0.00000000e+00 1.41445699e+02] [-3.41944010e-02 9.99415200e-01 0.00000000e+00 -8.22554368e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61221617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.51, Y:-0.82, Z:-0.00 [[ 9.99492133e-01 3.18665422e-02 0.00000000e+00 1.41506878e+02] [-3.18665422e-02 9.99492133e-01 0.00000000e+00 -8.23502875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05807121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.57, Y:-0.82, Z:-0.00 [[ 9.99622616e-01 2.74704503e-02 0.00000000e+00 1.41567953e+02] [-2.74704503e-02 9.99622616e-01 0.00000000e+00 -8.21735731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88377808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.63, Y:-0.82, Z:-0.00 [[ 9.99701224e-01 2.44430659e-02 0.00000000e+00 1.41629322e+02] [-2.44430659e-02 9.99701224e-01 0.00000000e+00 -8.15909891e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66852200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.69, Y:-0.81, Z:-0.00 [[ 9.99697434e-01 2.45975850e-02 0.00000000e+00 1.41690299e+02] [-2.45975850e-02 9.99697434e-01 0.00000000e+00 -8.12020932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07268690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:-0.81, Z:-0.00 [[ 9.99753273e-01 2.22124496e-02 0.00000000e+00 1.41751362e+02] [-2.22124496e-02 9.99753273e-01 0.00000000e+00 -8.13593653e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19263432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.81, Y:-0.81, Z:0.01 [[ 9.99720158e-01 2.36559764e-02 0.00000000e+00 1.41812324e+02] [-2.36559764e-02 9.99720158e-01 0.00000000e+00 -8.08505912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13993798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.87, Y:-0.79, Z:-0.01 [[ 9.99711815e-01 2.40059673e-02 0.00000000e+00 1.41872627e+02] [-2.40059673e-02 9.99711815e-01 0.00000000e+00 -7.92470997e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86323504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.93, Y:-0.79, Z:-0.00 [[ 9.99740585e-01 2.27763799e-02 0.00000000e+00 1.41933305e+02] [-2.27763799e-02 9.99740585e-01 0.00000000e+00 -7.90192033e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57568974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.99, Y:-0.78, Z:-0.01 [[ 9.99857729e-01 1.68677623e-02 0.00000000e+00 1.41993745e+02] [-1.68677623e-02 9.99857729e-01 0.00000000e+00 -7.82509672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.14328107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.05, Y:-0.78, Z:-0.01 [[ 9.99942773e-01 1.06981867e-02 0.00000000e+00 1.42054457e+02] [-1.06981867e-02 9.99942773e-01 0.00000000e+00 -7.81003726e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26393518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.11, Y:-0.79, Z:-0.00 [[ 9.99999996e-01 8.55076301e-05 0.00000000e+00 1.42114541e+02] [-8.55076301e-05 9.99999996e-01 0.00000000e+00 -7.85331242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78496310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.18, Y:-0.79, Z:-0.00 [[ 9.99997529e-01 -2.22310352e-03 0.00000000e+00 1.42175332e+02] [ 2.22310352e-03 9.99997529e-01 0.00000000e+00 -7.85866432e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84130198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.24, Y:-0.78, Z:-0.01 [[ 9.99999943e-01 3.37106476e-04 0.00000000e+00 1.42235783e+02] [-3.37106476e-04 9.99999943e-01 0.00000000e+00 -7.83944731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78952971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.30, Y:-0.79, Z:-0.01 [[ 9.99995865e-01 2.87570613e-03 0.00000000e+00 1.42295909e+02] [-2.87570613e-03 9.99995865e-01 0.00000000e+00 -7.87051967e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57721778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.36, Y:-0.79, Z:-0.01 [[ 9.99981526e-01 6.07845608e-03 0.00000000e+00 1.42356006e+02] [-6.07845608e-03 9.99981526e-01 0.00000000e+00 -7.88214964e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.90252880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.42, Y:-0.78, Z:-0.00 [[ 9.99955791e-01 9.40295285e-03 0.00000000e+00 1.42416293e+02] [-9.40295285e-03 9.99955791e-01 0.00000000e+00 -7.82683484e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40134311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:-0.78, Z:0.01 [[ 9.99905829e-01 1.37234681e-02 0.00000000e+00 1.42477125e+02] [-1.37234681e-02 9.99905829e-01 0.00000000e+00 -7.82038862e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58849032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.54, Y:-0.78, Z:-0.00 [[ 9.99885832e-01 1.51103673e-02 0.00000000e+00 1.42537716e+02] [-1.51103673e-02 9.99885832e-01 0.00000000e+00 -7.77263729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64595683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.60, Y:-0.77, Z:0.01 [[ 9.99877456e-01 1.56548147e-02 0.00000000e+00 1.42598644e+02] [-1.56548147e-02 9.99877456e-01 0.00000000e+00 -7.74380788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86534036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.66, Y:-0.77, Z:-0.00 [[ 9.99865856e-01 1.63789570e-02 0.00000000e+00 1.42659318e+02] [-1.63789570e-02 9.99865856e-01 0.00000000e+00 -7.73685431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09811246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.72, Y:-0.77, Z:-0.00 [[ 9.99839654e-01 1.79071462e-02 0.00000000e+00 1.42719982e+02] [-1.79071462e-02 9.99839654e-01 0.00000000e+00 -7.71074584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27875228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.78, Y:-0.77, Z:-0.00 [[ 9.99813706e-01 1.93016407e-02 0.00000000e+00 1.42779301e+02] [-1.93016407e-02 9.99813706e-01 0.00000000e+00 -7.68128575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50085783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:-0.76, Z:-0.00 [[ 9.99702128e-01 2.44060299e-02 0.00000000e+00 1.42838586e+02] [-2.44060299e-02 9.99702128e-01 0.00000000e+00 -7.58018019e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.58916137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.90, Y:-0.75, Z:0.01 [[ 9.99713277e-01 2.39450140e-02 0.00000000e+00 1.42898226e+02] [-2.39450140e-02 9.99713277e-01 0.00000000e+00 -7.51919738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06876763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.96, Y:-0.75, Z:0.01 [[ 9.99804544e-01 1.97705284e-02 0.00000000e+00 1.42957946e+02] [-1.97705284e-02 9.99804544e-01 0.00000000e+00 -7.51666113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70103040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.02, Y:-0.74, Z:-0.00 [[ 9.99858057e-01 1.68483463e-02 0.00000000e+00 1.43017273e+02] [-1.68483463e-02 9.99858057e-01 0.00000000e+00 -7.43067332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62354233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.08, Y:-0.74, Z:-0.00 [[ 9.99875859e-01 1.57564771e-02 0.00000000e+00 1.43076659e+02] [-1.57564771e-02 9.99875859e-01 0.00000000e+00 -7.39676430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74903303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.14, Y:-0.75, Z:-0.00 [[ 9.99937734e-01 1.11592561e-02 0.00000000e+00 1.43135946e+02] [-1.11592561e-02 9.99937734e-01 0.00000000e+00 -7.45768192e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65800337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.20, Y:-0.74, Z:-0.00 [[ 9.99975597e-01 6.98602082e-03 0.00000000e+00 1.43195387e+02] [-6.98602082e-03 9.99975597e-01 0.00000000e+00 -7.43996198e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78131995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.26, Y:-0.74, Z:-0.00 [[ 9.99969136e-01 7.85660653e-03 0.00000000e+00 1.43256273e+02] [-7.85660653e-03 9.99969136e-01 0.00000000e+00 -7.43699803e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05075922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.32, Y:-0.74, Z:-0.00 [[ 9.99925349e-01 1.22187027e-02 0.00000000e+00 1.43317062e+02] [-1.22187027e-02 9.99925349e-01 0.00000000e+00 -7.39532372e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.64706533e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.38, Y:-0.74, Z:-0.00 [[ 9.99873176e-01 1.59257966e-02 0.00000000e+00 1.43376630e+02] [-1.59257966e-02 9.99873176e-01 0.00000000e+00 -7.37650875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19271505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.44, Y:-0.74, Z:-0.00 [[ 9.99836657e-01 1.80737209e-02 0.00000000e+00 1.43436634e+02] [-1.80737209e-02 9.99836657e-01 0.00000000e+00 -7.35277881e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08435052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.50, Y:-0.73, Z:0.00 [[ 9.99841525e-01 1.78023982e-02 0.00000000e+00 1.43496760e+02] [-1.78023982e-02 9.99841525e-01 0.00000000e+00 -7.30709611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00199171e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.56, Y:-0.73, Z:-0.00 [[ 9.99818031e-01 1.90763009e-02 0.00000000e+00 1.43556057e+02] [-1.90763009e-02 9.99818031e-01 0.00000000e+00 -7.29467054e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19278694e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.62, Y:-0.73, Z:-0.00 [[ 9.99819745e-01 1.89862263e-02 0.00000000e+00 1.43615418e+02] [-1.89862263e-02 9.99819745e-01 0.00000000e+00 -7.27999430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64201625e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.68, Y:-0.73, Z:-0.00 [[ 9.99842386e-01 1.77539824e-02 0.00000000e+00 1.43675306e+02] [-1.77539824e-02 9.99842386e-01 0.00000000e+00 -7.32643717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22293191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.73, Y:-0.73, Z:-0.00 [[ 9.99918572e-01 1.27612575e-02 0.00000000e+00 1.43734987e+02] [-1.27612575e-02 9.99918572e-01 0.00000000e+00 -7.32899500e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47177912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.79, Y:-0.73, Z:-0.00 [[ 9.99944561e-01 1.05297486e-02 0.00000000e+00 1.43794566e+02] [-1.05297486e-02 9.99944561e-01 0.00000000e+00 -7.34339864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20849523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.85, Y:-0.74, Z:-0.00 [[ 9.99978861e-01 6.50210218e-03 0.00000000e+00 1.43853748e+02] [-6.50210218e-03 9.99978861e-01 0.00000000e+00 -7.39656423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32938615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.91, Y:-0.74, Z:-0.00 [[ 9.99997417e-01 2.27293620e-03 0.00000000e+00 1.43914039e+02] [-2.27293620e-03 9.99997417e-01 0.00000000e+00 -7.41191211e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60333873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:143.97, Y:-0.75, Z:-0.00 [[ 9.99991299e-01 -4.17163175e-03 0.00000000e+00 1.43974774e+02] [ 4.17163175e-03 9.99991299e-01 0.00000000e+00 -7.46151618e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42676223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.04, Y:-0.75, Z:0.01 [[ 9.99969968e-01 -7.75003989e-03 0.00000000e+00 1.44035530e+02] [ 7.75003989e-03 9.99969968e-01 0.00000000e+00 -7.54727451e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15372073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.10, Y:-0.76, Z:-0.00 [[ 9.99965553e-01 -8.30011801e-03 0.00000000e+00 1.44095862e+02] [ 8.30011801e-03 9.99965553e-01 0.00000000e+00 -7.56687401e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01349806e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:144.16, Y:-0.77, Z:-0.00 [[ 9.99949516e-01 -1.00481558e-02 0.00000000e+00 1.44156657e+02] [ 1.00481558e-02 9.99949516e-01 0.00000000e+00 -7.65843501e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78611071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.22, Y:-0.77, Z:-0.00 [[ 9.99946321e-01 -1.03612427e-02 0.00000000e+00 1.44217621e+02] [ 1.03612427e-02 9.99946321e-01 0.00000000e+00 -7.69596588e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23053851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.28, Y:-0.78, Z:-0.00 [[ 9.99931184e-01 -1.17314554e-02 0.00000000e+00 1.44277814e+02] [ 1.17314554e-02 9.99931184e-01 0.00000000e+00 -7.75983009e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27245296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.34, Y:-0.78, Z:-0.00 [[ 9.99917905e-01 -1.28133642e-02 0.00000000e+00 1.44337897e+02] [ 1.28133642e-02 9.99917905e-01 0.00000000e+00 -7.80402979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89412437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.40, Y:-0.79, Z:-0.00 [[ 9.99866847e-01 -1.63183200e-02 0.00000000e+00 1.44398687e+02] [ 1.63183200e-02 9.99866847e-01 0.00000000e+00 -7.89291046e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06290552e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.46, Y:-0.79, Z:-0.00 [[ 9.99815363e-01 -1.92156211e-02 0.00000000e+00 1.44459450e+02] [ 1.92156211e-02 9.99815363e-01 0.00000000e+00 -7.92735641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48232074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.52, Y:-0.80, Z:-0.00 [[ 9.99740392e-01 -2.27848316e-02 0.00000000e+00 1.44519583e+02] [ 2.27848316e-02 9.99740392e-01 0.00000000e+00 -8.02320672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89367988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.58, Y:-0.82, Z:-0.00 [[ 9.99650835e-01 -2.64236182e-02 0.00000000e+00 1.44580009e+02] [ 2.64236182e-02 9.99650835e-01 0.00000000e+00 -8.15336883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20652354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:-0.82, Z:-0.00 [[ 9.99595644e-01 -2.84349729e-02 0.00000000e+00 1.44640486e+02] [ 2.84349729e-02 9.99595644e-01 0.00000000e+00 -8.22956420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10875619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.70, Y:-0.84, Z:-0.00 [[ 9.99549961e-01 -2.99979082e-02 0.00000000e+00 1.44699956e+02] [ 2.99979082e-02 9.99549961e-01 0.00000000e+00 -8.39096070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42528584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.76, Y:-0.85, Z:-0.00 [[ 9.99780249e-01 -2.09631400e-02 0.00000000e+00 1.44759844e+02] [ 2.09631400e-02 9.99780249e-01 0.00000000e+00 -8.50226911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49825080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:144.82, Y:-0.86, Z:-0.00 [[ 9.99946284e-01 -1.03647994e-02 0.00000000e+00 1.44819454e+02] [ 1.03647994e-02 9.99946284e-01 0.00000000e+00 -8.59557050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.12045941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:-0.87, Z:-0.00 [[ 9.99995784e-01 2.90390646e-03 0.00000000e+00 1.44878969e+02] [-2.90390646e-03 9.99995784e-01 0.00000000e+00 -8.66245036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18900652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.94, Y:-0.87, Z:-0.00 [[ 9.99954489e-01 9.54043748e-03 0.00000000e+00 1.44939660e+02] [-9.54043748e-03 9.99954489e-01 0.00000000e+00 -8.69532214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31283171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.00, Y:-0.87, Z:-0.00 [[ 9.99761239e-01 2.18509896e-02 0.00000000e+00 1.45000608e+02] [-2.18509896e-02 9.99761239e-01 0.00000000e+00 -8.72455795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.09410769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.06, Y:-0.87, Z:-0.01 [[ 9.99576615e-01 2.90962417e-02 0.00000000e+00 1.45062144e+02] [-2.90962417e-02 9.99576615e-01 0.00000000e+00 -8.69289332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39222504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:145.12, Y:-0.86, Z:-0.00 [[ 9.99360749e-01 3.57504388e-02 0.00000000e+00 1.45123653e+02] [-3.57504388e-02 9.99360749e-01 0.00000000e+00 -8.63142133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25719510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:145.18, Y:-0.86, Z:0.01 [[ 9.99309142e-01 3.71650087e-02 0.00000000e+00 1.45184446e+02] [-3.71650087e-02 9.99309142e-01 0.00000000e+00 -8.63132629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48091365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.25, Y:-0.85, Z:-0.00 [[ 9.99253458e-01 3.86332389e-02 0.00000000e+00 1.45245969e+02] [-3.86332389e-02 9.99253458e-01 0.00000000e+00 -8.50696538e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78280906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.31, Y:-0.84, Z:-0.00 [[ 9.99179694e-01 4.04961585e-02 0.00000000e+00 1.45307341e+02] [-4.04961585e-02 9.99179694e-01 0.00000000e+00 -8.42533084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77559832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.37, Y:-0.83, Z:-0.00 [[ 9.99266461e-01 3.82954196e-02 0.00000000e+00 1.45368723e+02] [-3.82954196e-02 9.99266461e-01 0.00000000e+00 -8.33192563e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80250434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.43, Y:-0.83, Z:-0.01 [[ 9.99513935e-01 3.11752023e-02 0.00000000e+00 1.45430248e+02] [-3.11752023e-02 9.99513935e-01 0.00000000e+00 -8.28686134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41784334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.49, Y:-0.82, Z:-0.01 [[ 9.99585321e-01 2.87955939e-02 0.00000000e+00 1.45491293e+02] [-2.87955939e-02 9.99585321e-01 0.00000000e+00 -8.24054764e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30943546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.55, Y:-0.81, Z:-0.00 [[ 9.99602647e-01 2.81877208e-02 0.00000000e+00 1.45552253e+02] [-2.81877208e-02 9.99602647e-01 0.00000000e+00 -8.13267161e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65634069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.61, Y:-0.81, Z:-0.01 [[ 9.99586152e-01 2.87667286e-02 0.00000000e+00 1.45612233e+02] [-2.87667286e-02 9.99586152e-01 0.00000000e+00 -8.07151109e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62506639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.67, Y:-0.80, Z:-0.01 [[ 9.99596957e-01 2.83888072e-02 0.00000000e+00 1.45672855e+02] [-2.83888072e-02 9.99596957e-01 0.00000000e+00 -7.99711136e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06355147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.73, Y:-0.79, Z:-0.01 [[ 9.99733079e-01 2.31034752e-02 0.00000000e+00 1.45733314e+02] [-2.31034752e-02 9.99733079e-01 0.00000000e+00 -7.93975131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07153661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.79, Y:-0.80, Z:-0.01 [[ 9.99950582e-01 9.94146071e-03 0.00000000e+00 1.45793668e+02] [-9.94146071e-03 9.99950582e-01 0.00000000e+00 -7.99199119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.75140674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.85, Y:-0.79, Z:-0.01 [[ 9.99994938e-01 3.18189385e-03 0.00000000e+00 1.45854410e+02] [-3.18189385e-03 9.99994938e-01 0.00000000e+00 -7.94080822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.34360956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.91, Y:-0.79, Z:-0.01 [[ 9.99998471e-01 1.74897015e-03 0.00000000e+00 1.45914979e+02] [-1.74897015e-03 9.99998471e-01 0.00000000e+00 -7.93651672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08360166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.98, Y:-0.80, Z:-0.01 [[ 9.99992727e-01 -3.81381212e-03 0.00000000e+00 1.45975722e+02] [ 3.81381212e-03 9.99992727e-01 0.00000000e+00 -8.01434551e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30196222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:146.04, Y:-0.80, Z:-0.01 [[ 9.99972880e-01 -7.36466364e-03 0.00000000e+00 1.46036157e+02] [ 7.36466364e-03 9.99972880e-01 0.00000000e+00 -8.03790883e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90141922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.10, Y:-0.81, Z:-0.01 [[ 9.99951210e-01 -9.87814414e-03 0.00000000e+00 1.46096525e+02] [ 9.87814414e-03 9.99951210e-01 0.00000000e+00 -8.09086197e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.64161096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.16, Y:-0.81, Z:-0.01 [[ 9.99967881e-01 -8.01482717e-03 0.00000000e+00 1.46157090e+02] [ 8.01482717e-03 9.99967881e-01 0.00000000e+00 -8.14306683e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.50851449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:146.22, Y:-0.82, Z:0.01 [[ 9.99997706e-01 -2.14183939e-03 0.00000000e+00 1.46217798e+02] [ 2.14183939e-03 9.99997706e-01 0.00000000e+00 -8.22320147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01585111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.28, Y:-0.82, Z:-0.01 [[ 9.99986395e-01 5.21622896e-03 0.00000000e+00 1.46278590e+02] [-5.21622896e-03 9.99986395e-01 0.00000000e+00 -8.20777177e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05909786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.34, Y:-0.82, Z:-0.00 [[ 9.99828033e-01 1.85446616e-02 0.00000000e+00 1.46339066e+02] [-1.85446616e-02 9.99828033e-01 0.00000000e+00 -8.16985793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.25142757e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.40, Y:-0.82, Z:-0.00 [[ 9.99654438e-01 2.62869604e-02 0.00000000e+00 1.46399354e+02] [-2.62869604e-02 9.99654438e-01 0.00000000e+00 -8.15023921e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25964506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.46, Y:-0.81, Z:-0.00 [[ 9.99574968e-01 2.91527757e-02 0.00000000e+00 1.46460188e+02] [-2.91527757e-02 9.99574968e-01 0.00000000e+00 -8.13980832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.16379823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.52, Y:-0.81, Z:-0.00 [[ 9.99609381e-01 2.79478918e-02 0.00000000e+00 1.46520882e+02] [-2.79478918e-02 9.99609381e-01 0.00000000e+00 -8.14644574e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.66111858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.58, Y:-0.81, Z:0.01 [[ 9.99657315e-01 2.61773199e-02 0.00000000e+00 1.46581339e+02] [-2.61773199e-02 9.99657315e-01 0.00000000e+00 -8.11626850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49655216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.64, Y:-0.81, Z:-0.00 [[ 9.99567437e-01 2.94098453e-02 0.00000000e+00 1.46642000e+02] [-2.94098453e-02 9.99567437e-01 0.00000000e+00 -8.09221174e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26466036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.70, Y:-0.81, Z:-0.00 [[ 9.99614014e-01 2.77816886e-02 0.00000000e+00 1.46702929e+02] [-2.77816886e-02 9.99614014e-01 0.00000000e+00 -8.09414158e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16076563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.76, Y:-0.81, Z:-0.00 [[ 9.99693546e-01 2.47550740e-02 0.00000000e+00 1.46763084e+02] [-2.47550740e-02 9.99693546e-01 0.00000000e+00 -8.12592810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06607936e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.82, Y:-0.81, Z:-0.00 [[ 9.99782432e-01 2.08587927e-02 0.00000000e+00 1.46823805e+02] [-2.08587927e-02 9.99782432e-01 0.00000000e+00 -8.08155246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63878388e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.922320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:146.88, Y:-0.80, Z:-0.00 [[ 9.99756137e-01 2.20831757e-02 0.00000000e+00 1.46884241e+02] [-2.20831757e-02 9.99756137e-01 0.00000000e+00 -8.03445335e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15521662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.982320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:146.94, Y:-0.80, Z:-0.00 [[ 9.99688604e-01 2.49538762e-02 0.00000000e+00 1.46944617e+02] [-2.49538762e-02 9.99688604e-01 0.00000000e+00 -8.03259736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.02214533e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.00, Y:-0.80, Z:0.00 [[ 9.99639252e-01 2.68582590e-02 0.00000000e+00 1.47004927e+02] [-2.68582590e-02 9.99639252e-01 0.00000000e+00 -7.98426643e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56967250e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.06, Y:-0.79, Z:-0.00 [[ 9.99660294e-01 2.60633014e-02 0.00000000e+00 1.47064914e+02] [-2.60633014e-02 9.99660294e-01 0.00000000e+00 -7.92492782e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55831537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:147.12, Y:-0.79, Z:0.01 [[ 9.99798541e-01 2.00717940e-02 0.00000000e+00 1.47124735e+02] [-2.00717940e-02 9.99798541e-01 0.00000000e+00 -7.90786811e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19001539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.18, Y:-0.78, Z:-0.00 [[ 9.99817570e-01 1.91004439e-02 0.00000000e+00 1.47184650e+02] [-1.91004439e-02 9.99817570e-01 0.00000000e+00 -7.84828641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46961027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:-0.78, Z:-0.00 [[ 9.99865940e-01 1.63738173e-02 0.00000000e+00 1.47244332e+02] [-1.63738173e-02 9.99865940e-01 0.00000000e+00 -7.78342772e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65265158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:-0.78, Z:-0.00 [[ 9.99894229e-01 1.45440679e-02 0.00000000e+00 1.47303982e+02] [-1.45440679e-02 9.99894229e-01 0.00000000e+00 -7.77116282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29236960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:147.36, Y:-0.77, Z:-0.01 [[ 9.99955059e-01 9.48052497e-03 0.00000000e+00 1.47363252e+02] [-9.48052497e-03 9.99955059e-01 0.00000000e+00 -7.71671570e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46176097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.42, Y:-0.78, Z:-0.01 [[ 9.99987749e-01 4.95000419e-03 0.00000000e+00 1.47423440e+02] [-4.95000419e-03 9.99987749e-01 0.00000000e+00 -7.75211878e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62866744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.48, Y:-0.78, Z:-0.01 [[ 9.99996402e-01 2.68259466e-03 0.00000000e+00 1.47483616e+02] [-2.68259466e-03 9.99996402e-01 0.00000000e+00 -7.79945734e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.25965352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.54, Y:-0.78, Z:-0.01 [[ 9.99997955e-01 2.02244796e-03 0.00000000e+00 1.47544457e+02] [-2.02244796e-03 9.99997955e-01 0.00000000e+00 -7.83464944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63345007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.61, Y:-0.79, Z:-0.01 [[ 9.99992596e-01 3.84812577e-03 0.00000000e+00 1.47605339e+02] [-3.84812577e-03 9.99992596e-01 0.00000000e+00 -7.87500703e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01225229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.702320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:147.67, Y:-0.79, Z:-0.00 [[ 9.99951925e-01 9.80547392e-03 0.00000000e+00 1.47665508e+02] [-9.80547392e-03 9.99951925e-01 0.00000000e+00 -7.88959897e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97673920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.73, Y:-0.79, Z:-0.00 [[ 9.99900585e-01 1.41003783e-02 0.00000000e+00 1.47726266e+02] [-1.41003783e-02 9.99900585e-01 0.00000000e+00 -7.88515025e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77287178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:147.79, Y:-0.79, Z:0.01 [[ 9.99828556e-01 1.85164471e-02 0.00000000e+00 1.47786165e+02] [-1.85164471e-02 9.99828556e-01 0.00000000e+00 -7.92430074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21774510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.85, Y:-0.78, Z:-0.00 [[ 9.99697943e-01 2.45768839e-02 0.00000000e+00 1.47845603e+02] [-2.45768839e-02 9.99697943e-01 0.00000000e+00 -7.84919080e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33458862e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:-0.78, Z:-0.00 [[ 9.99550101e-01 2.99932664e-02 0.00000000e+00 1.47905036e+02] [-2.99932664e-02 9.99550101e-01 0.00000000e+00 -7.78893095e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36568166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.96, Y:-0.77, Z:-0.00 [[ 9.99435122e-01 3.36071009e-02 0.00000000e+00 1.47964329e+02] [-3.36071009e-02 9.99435122e-01 0.00000000e+00 -7.73498641e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38483546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:-0.77, Z:-0.00 [[ 9.99521307e-01 3.09379652e-02 0.00000000e+00 1.48022947e+02] [-3.09379652e-02 9.99521307e-01 0.00000000e+00 -7.70665254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52085618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.08, Y:-0.77, Z:-0.00 [[ 9.99606373e-01 2.80553019e-02 0.00000000e+00 1.48081417e+02] [-2.80553019e-02 9.99606373e-01 0.00000000e+00 -7.66555011e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04638793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:148.14, Y:-0.75, Z:0.01 [[ 9.99644424e-01 2.66650743e-02 0.00000000e+00 1.48140529e+02] [-2.66650743e-02 9.99644424e-01 0.00000000e+00 -7.54660554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30813062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:-0.75, Z:-0.00 [[ 9.99777794e-01 2.10798921e-02 0.00000000e+00 1.48198903e+02] [-2.10798921e-02 9.99777794e-01 0.00000000e+00 -7.51553184e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20818941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:148.26, Y:-0.75, Z:-0.01 [[ 9.99975359e-01 7.02001857e-03 0.00000000e+00 1.48258237e+02] [-7.02001857e-03 9.99975359e-01 0.00000000e+00 -7.53922722e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31222625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.32, Y:-0.76, Z:-0.01 [[ 9.99993991e-01 -3.46681598e-03 0.00000000e+00 1.48318962e+02] [ 3.46681598e-03 9.99993991e-01 0.00000000e+00 -7.58186822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21173294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.38, Y:-0.76, Z:-0.01 [[ 9.99911920e-01 -1.32722517e-02 0.00000000e+00 1.48379695e+02] [ 1.32722517e-02 9.99911920e-01 0.00000000e+00 -7.63208055e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01790936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:-0.77, Z:-0.01 [[ 9.99890988e-01 -1.47652263e-02 0.00000000e+00 1.48441441e+02] [ 1.47652263e-02 9.99890988e-01 0.00000000e+00 -7.67696700e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52276283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.50, Y:-0.78, Z:-0.01 [[ 9.99789179e-01 -2.05328580e-02 0.00000000e+00 1.48502685e+02] [ 2.05328580e-02 9.99789179e-01 0.00000000e+00 -7.82361642e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79167008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.56, Y:-0.79, Z:-0.01 [[ 9.99711270e-01 -2.40286450e-02 0.00000000e+00 1.48564131e+02] [ 2.40286450e-02 9.99711270e-01 0.00000000e+00 -7.93431584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.53497726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.63, Y:-0.81, Z:-0.01 [[ 9.99702575e-01 -2.43877516e-02 0.00000000e+00 1.48625151e+02] [ 2.43877516e-02 9.99702575e-01 0.00000000e+00 -8.08475944e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.93225222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.69, Y:-0.82, Z:-0.01 [[ 9.99806622e-01 -1.96651540e-02 0.00000000e+00 1.48686111e+02] [ 1.96651540e-02 9.99806622e-01 0.00000000e+00 -8.17332577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.67264734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.75, Y:-0.83, Z:-0.01 [[ 9.99968806e-01 -7.89857544e-03 0.00000000e+00 1.48745578e+02] [ 7.89857544e-03 9.99968806e-01 0.00000000e+00 -8.28640048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.38759535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:-0.83, Z:-0.01 [[ 9.99999813e-01 -6.12315406e-04 0.00000000e+00 1.48805823e+02] [ 6.12315406e-04 9.99999813e-01 0.00000000e+00 -8.33259708e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.74869040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:148.87, Y:-0.84, Z:0.01 [[ 9.99966609e-01 8.17194339e-03 0.00000000e+00 1.48866262e+02] [-8.17194339e-03 9.99966609e-01 0.00000000e+00 -8.41065759e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02025881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.93, Y:-0.84, Z:-0.01 [[ 9.99784974e-01 2.07365978e-02 0.00000000e+00 1.48927107e+02] [-2.07365978e-02 9.99784974e-01 0.00000000e+00 -8.42406072e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.74113449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.99, Y:-0.85, Z:-0.01 [[ 9.99569187e-01 2.93503206e-02 0.00000000e+00 1.48988204e+02] [-2.93503206e-02 9.99569187e-01 0.00000000e+00 -8.45685410e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15686058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.05, Y:-0.84, Z:-0.01 [[ 9.99260346e-01 3.84546641e-02 0.00000000e+00 1.49050030e+02] [-3.84546641e-02 9.99260346e-01 0.00000000e+00 -8.43287929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.75651401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:-0.84, Z:-0.01 [[ 9.99162758e-01 4.09118888e-02 0.00000000e+00 1.49111026e+02] [-4.09118888e-02 9.99162758e-01 0.00000000e+00 -8.42487832e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22610415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:149.17, Y:-0.85, Z:0.01 [[ 9.99209310e-01 3.97587067e-02 0.00000000e+00 1.49171852e+02] [-3.97587067e-02 9.99209310e-01 0.00000000e+00 -8.48587251e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32692425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:-0.85, Z:-0.01 [[ 9.99257872e-01 3.85188907e-02 0.00000000e+00 1.49232384e+02] [-3.85188907e-02 9.99257872e-01 0.00000000e+00 -8.45317215e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.97978715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:-0.84, Z:-0.01 [[ 9.99362090e-01 3.57129153e-02 0.00000000e+00 1.49293844e+02] [-3.57129153e-02 9.99362090e-01 0.00000000e+00 -8.42437110e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20979699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.36, Y:-0.85, Z:-0.01 [[ 9.99574795e-01 2.91586746e-02 0.00000000e+00 1.49355326e+02] [-2.91586746e-02 9.99574795e-01 0.00000000e+00 -8.48115809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04246323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.42, Y:-0.85, Z:-0.01 [[ 9.99753532e-01 2.22007982e-02 0.00000000e+00 1.49416619e+02] [-2.22007982e-02 9.99753532e-01 0.00000000e+00 -8.51101953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09954699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.48, Y:-0.86, Z:-0.01 [[ 9.99876461e-01 1.57182233e-02 0.00000000e+00 1.49477702e+02] [-1.57182233e-02 9.99876461e-01 0.00000000e+00 -8.59455845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01172660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.54, Y:-0.86, Z:-0.01 [[ 9.99848085e-01 1.74300504e-02 0.00000000e+00 1.49539289e+02] [-1.74300504e-02 9.99848085e-01 0.00000000e+00 -8.57216435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92159094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.60, Y:-0.86, Z:-0.01 [[ 9.99725483e-01 2.34298584e-02 0.00000000e+00 1.49600357e+02] [-2.34298584e-02 9.99725483e-01 0.00000000e+00 -8.56881480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04295658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.66, Y:-0.86, Z:-0.01 [[ 9.99688099e-01 2.49740973e-02 0.00000000e+00 1.49661547e+02] [-2.49740973e-02 9.99688099e-01 0.00000000e+00 -8.60063518e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.92858109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.72, Y:-0.86, Z:-0.01 [[ 9.99751933e-01 2.22726903e-02 0.00000000e+00 1.49722651e+02] [-2.22726903e-02 9.99751933e-01 0.00000000e+00 -8.56102321e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.15271974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.802320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:149.78, Y:-0.86, Z:-0.01 [[ 9.99793382e-01 2.03271524e-02 0.00000000e+00 1.49783902e+02] [-2.03271524e-02 9.99793382e-01 0.00000000e+00 -8.57383979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46602163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.85, Y:-0.86, Z:-0.01 [[ 9.99861040e-01 1.66703558e-02 0.00000000e+00 1.49845601e+02] [-1.66703558e-02 9.99861040e-01 0.00000000e+00 -8.63398488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92271048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:-0.87, Z:-0.01 [[ 9.99932770e-01 1.15955192e-02 0.00000000e+00 1.49906596e+02] [-1.15955192e-02 9.99932770e-01 0.00000000e+00 -8.66607640e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11655437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:-0.87, Z:-0.01 [[ 9.99980817e-01 6.19400087e-03 0.00000000e+00 1.49967363e+02] [-6.19400087e-03 9.99980817e-01 0.00000000e+00 -8.69141523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09314770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:150.03, Y:-0.87, Z:-0.01 [[ 9.99985486e-01 5.38779160e-03 0.00000000e+00 1.50028260e+02] [-5.38779160e-03 9.99985486e-01 0.00000000e+00 -8.73591712e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21241796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:-0.88, Z:-0.01 [[ 9.99990095e-01 4.45073095e-03 0.00000000e+00 1.50089283e+02] [-4.45073095e-03 9.99990095e-01 0.00000000e+00 -8.76477137e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11888079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.15, Y:-0.88, Z:-0.01 [[ 9.99998489e-01 1.73860826e-03 0.00000000e+00 1.50149820e+02] [-1.73860826e-03 9.99998489e-01 0.00000000e+00 -8.84048097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29953454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.21, Y:-0.89, Z:0.00 [[ 9.99994608e-01 -3.28393385e-03 0.00000000e+00 1.50210403e+02] [ 3.28393385e-03 9.99994608e-01 0.00000000e+00 -8.91587958e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47126825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.27, Y:-0.91, Z:-0.01 [[ 9.99973008e-01 -7.34738935e-03 0.00000000e+00 1.50271288e+02] [ 7.34738935e-03 9.99973008e-01 0.00000000e+00 -9.06351320e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25454931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.33, Y:-0.92, Z:-0.01 [[ 9.99960324e-01 -8.90789316e-03 0.00000000e+00 1.50331049e+02] [ 8.90789316e-03 9.99960324e-01 0.00000000e+00 -9.15783720e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27662200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.39, Y:-0.92, Z:-0.01 [[ 9.99978685e-01 -6.52906758e-03 0.00000000e+00 1.50390294e+02] [ 6.52906758e-03 9.99978685e-01 0.00000000e+00 -9.23921343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94547506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.45, Y:-0.93, Z:-0.01 [[ 9.99988052e-01 -4.88839159e-03 0.00000000e+00 1.50449670e+02] [ 4.88839159e-03 9.99988052e-01 0.00000000e+00 -9.26704647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89744507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.51, Y:-0.94, Z:-0.01 [[ 9.99998992e-01 1.41956492e-03 0.00000000e+00 1.50509422e+02] [-1.41956492e-03 9.99998992e-01 0.00000000e+00 -9.35210583e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05015265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.57, Y:-0.94, Z:-0.01 [[ 9.99982361e-01 5.93945898e-03 0.00000000e+00 1.50570076e+02] [-5.93945898e-03 9.99982361e-01 0.00000000e+00 -9.37005660e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.72098682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.63, Y:-0.94, Z:-0.01 [[ 9.99920196e-01 1.26333155e-02 0.00000000e+00 1.50631809e+02] [-1.26333155e-02 9.99920196e-01 0.00000000e+00 -9.38785949e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00591544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.69, Y:-0.94, Z:-0.01 [[ 9.99884511e-01 1.51975174e-02 0.00000000e+00 1.50693114e+02] [-1.51975174e-02 9.99884511e-01 0.00000000e+00 -9.41262875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38724191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.75, Y:-0.94, Z:-0.01 [[ 9.99831413e-01 1.83615017e-02 0.00000000e+00 1.50754978e+02] [-1.83615017e-02 9.99831413e-01 0.00000000e+00 -9.40003430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21764075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:150.82, Y:-0.94, Z:-0.01 [[ 9.99795599e-01 2.02177950e-02 0.00000000e+00 1.50815958e+02] [-2.02177950e-02 9.99795599e-01 0.00000000e+00 -9.40116667e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11245945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:-0.94, Z:-0.01 [[ 9.99840440e-01 1.78632287e-02 0.00000000e+00 1.50878025e+02] [-1.78632287e-02 9.99840440e-01 0.00000000e+00 -9.42045677e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40141518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:-0.94, Z:-0.01 [[ 9.99911612e-01 1.32954549e-02 0.00000000e+00 1.50940401e+02] [-1.32954549e-02 9.99911612e-01 0.00000000e+00 -9.42092505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.19493160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.00, Y:-0.95, Z:-0.01 [[ 9.99968642e-01 7.91928873e-03 0.00000000e+00 1.51001660e+02] [-7.91928873e-03 9.99968642e-01 0.00000000e+00 -9.45770831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17843095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.06, Y:-0.95, Z:-0.01 [[ 9.99987312e-01 5.03752497e-03 0.00000000e+00 1.51062842e+02] [-5.03752497e-03 9.99987312e-01 0.00000000e+00 -9.46416663e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20444747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:151.12, Y:-0.95, Z:0.00 [[ 9.99998908e-01 1.47785915e-03 0.00000000e+00 1.51123942e+02] [-1.47785915e-03 9.99998908e-01 0.00000000e+00 -9.49303157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63474140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.18, Y:-0.95, Z:-0.01 [[ 9.99997679e-01 -2.15461472e-03 0.00000000e+00 1.51184377e+02] [ 2.15461472e-03 9.99997679e-01 0.00000000e+00 -9.51114488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20807505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:151.25, Y:-0.96, Z:-0.01 [[ 9.99991147e-01 -4.20783906e-03 0.00000000e+00 1.51245065e+02] [ 4.20783906e-03 9.99991147e-01 0.00000000e+00 -9.58345535e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24676169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.30, Y:-0.96, Z:-0.01 [[ 9.99981982e-01 -6.00298868e-03 0.00000000e+00 1.51304711e+02] [ 6.00298868e-03 9.99981982e-01 0.00000000e+00 -9.63929106e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01690639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.36, Y:-0.96, Z:-0.01 [[ 9.99991594e-01 -4.10028533e-03 0.00000000e+00 1.51364562e+02] [ 4.10028533e-03 9.99991594e-01 0.00000000e+00 -9.62472954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21646671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:151.42, Y:-0.97, Z:-0.01 [[ 9.99999507e-01 -9.92522290e-04 0.00000000e+00 1.51424368e+02] [ 9.92522290e-04 9.99999507e-01 0.00000000e+00 -9.69020745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30206419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.49, Y:-0.98, Z:-0.01 [[ 1.00000000e+00 -1.43726933e-05 0.00000000e+00 1.51485222e+02] [ 1.43726933e-05 1.00000000e+00 0.00000000e+00 -9.77121220e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29372116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:-0.98, Z:-0.01 [[ 9.99999821e-01 5.99083544e-04 0.00000000e+00 1.51545715e+02] [-5.99083544e-04 9.99999821e-01 0.00000000e+00 -9.77458702e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34084318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602320588 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:-0.98, Z:-0.00 [[ 9.99990221e-01 4.42251680e-03 0.00000000e+00 1.51605915e+02] [-4.42251680e-03 9.99990221e-01 0.00000000e+00 -9.81769066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.82739988e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.67, Y:-0.99, Z:-0.01 [[ 9.99967081e-01 8.11393712e-03 0.00000000e+00 1.51667405e+02] [-8.11393712e-03 9.99967081e-01 0.00000000e+00 -9.92026557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40225934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:151.73, Y:-1.00, Z:-0.01 [[ 9.99946163e-01 1.03764316e-02 0.00000000e+00 1.51728965e+02] [-1.03764316e-02 9.99946163e-01 0.00000000e+00 -9.96094332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07511511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.79, Y:-1.00, Z:-0.01 [[ 9.99901631e-01 1.40260061e-02 0.00000000e+00 1.51791322e+02] [-1.40260061e-02 9.99901631e-01 0.00000000e+00 -1.00060696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24729461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.85, Y:-1.01, Z:-0.01 [[ 9.99782915e-01 2.08356093e-02 0.00000000e+00 1.51853006e+02] [-2.08356093e-02 9.99782915e-01 0.00000000e+00 -1.00555374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35431823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.92, Y:-1.00, Z:-0.01 [[ 9.99556671e-01 2.97734895e-02 0.00000000e+00 1.51915370e+02] [-2.97734895e-02 9.99556671e-01 0.00000000e+00 -1.00052996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.49895269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:151.98, Y:-1.00, Z:-0.01 [[ 9.99431353e-01 3.37190072e-02 0.00000000e+00 1.51977315e+02] [-3.37190072e-02 9.99431353e-01 0.00000000e+00 -1.00005468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20655514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.04, Y:-1.00, Z:-0.01 [[ 9.99283639e-01 3.78445356e-02 0.00000000e+00 1.52039406e+02] [-3.78445356e-02 9.99283639e-01 0.00000000e+00 -1.00265577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40010265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.10, Y:-1.00, Z:-0.01 [[ 9.99275767e-01 3.80518387e-02 0.00000000e+00 1.52102178e+02] [-3.80518387e-02 9.99275767e-01 0.00000000e+00 -1.00093995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34274511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.16, Y:-1.00, Z:0.00 [[ 9.99138417e-01 4.15021014e-02 0.00000000e+00 1.52164515e+02] [-4.15021014e-02 9.99138417e-01 0.00000000e+00 -1.00302327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42370540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.23, Y:-1.00, Z:-0.01 [[ 9.99171366e-01 4.07011147e-02 0.00000000e+00 1.52226986e+02] [-4.07011147e-02 9.99171366e-01 0.00000000e+00 -1.00080094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47262580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.29, Y:-1.00, Z:-0.01 [[ 9.99132849e-01 4.16359262e-02 0.00000000e+00 1.52289245e+02] [-4.16359262e-02 9.99132849e-01 0.00000000e+00 -9.98660695e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26954505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:-1.00, Z:-0.01 [[ 9.99120572e-01 4.19294912e-02 0.00000000e+00 1.52351290e+02] [-4.19294912e-02 9.99120572e-01 0.00000000e+00 -9.98897039e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32839719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.41, Y:-1.00, Z:-0.01 [[ 9.99279792e-01 3.79459717e-02 0.00000000e+00 1.52413273e+02] [-3.79459717e-02 9.99279792e-01 0.00000000e+00 -9.95637308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46197819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.48, Y:-0.98, Z:-0.01 [[ 9.99364255e-01 3.56523039e-02 0.00000000e+00 1.52475603e+02] [-3.56523039e-02 9.99364255e-01 0.00000000e+00 -9.83859003e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16080575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:152.54, Y:-0.97, Z:0.00 [[ 9.99291018e-01 3.76491907e-02 0.00000000e+00 1.52537454e+02] [-3.76491907e-02 9.99291018e-01 0.00000000e+00 -9.74039918e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56705654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.60, Y:-0.97, Z:-0.01 [[ 9.99449799e-01 3.31677370e-02 0.00000000e+00 1.52599434e+02] [-3.31677370e-02 9.99449799e-01 0.00000000e+00 -9.71536128e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46680614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:152.66, Y:-0.97, Z:-0.02 [[ 9.99648897e-01 2.64968447e-02 0.00000000e+00 1.52661641e+02] [-2.64968447e-02 9.99648897e-01 0.00000000e+00 -9.70805696e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71736537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:-0.97, Z:-0.02 [[ 9.99884694e-01 1.51854824e-02 0.00000000e+00 1.52723914e+02] [-1.51854824e-02 9.99884694e-01 0.00000000e+00 -9.65622690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65679144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74232058799998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:152.79, Y:-0.96, Z:-0.00 [[ 9.99943689e-01 1.06121725e-02 0.00000000e+00 1.52786204e+02] [-1.06121725e-02 9.99943689e-01 0.00000000e+00 -9.64970989e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93715648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.85, Y:-0.97, Z:-0.02 [[ 9.99996271e-01 2.73086998e-03 0.00000000e+00 1.52847273e+02] [-2.73086998e-03 9.99996271e-01 0.00000000e+00 -9.71773985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87158738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.91, Y:-0.98, Z:-0.02 [[ 9.99999419e-01 -1.07816242e-03 0.00000000e+00 1.52907771e+02] [ 1.07816242e-03 9.99999419e-01 0.00000000e+00 -9.75985775e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66100076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:152.97, Y:-0.98, Z:-0.00 [[ 9.99999749e-01 -7.07900626e-04 0.00000000e+00 1.52967764e+02] [ 7.07900626e-04 9.99999749e-01 0.00000000e+00 -9.78087365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65314253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:-0.99, Z:-0.02 [[ 9.99998217e-01 -1.88860884e-03 0.00000000e+00 1.53028263e+02] [ 1.88860884e-03 9.99998217e-01 0.00000000e+00 -9.86143751e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61626063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.09, Y:-0.99, Z:-0.02 [[ 9.99998894e-01 -1.48730431e-03 0.00000000e+00 1.53088691e+02] [ 1.48730431e-03 9.99998894e-01 0.00000000e+00 -9.87178302e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66578106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102320588 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:153.15, Y:-0.99, Z:-0.01 [[ 9.99994058e-01 3.44719510e-03 0.00000000e+00 1.53148762e+02] [-3.44719510e-03 9.99994058e-01 0.00000000e+00 -9.89799084e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.46753780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:153.21, Y:-0.99, Z:-0.00 [[ 9.99979349e-01 6.42663038e-03 0.00000000e+00 1.53209608e+02] [-6.42663038e-03 9.99979349e-01 0.00000000e+00 -9.92871411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11281975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:153.27, Y:-0.99, Z:-0.02 [[ 9.99961819e-01 8.73847130e-03 0.00000000e+00 1.53271418e+02] [-8.73847130e-03 9.99961819e-01 0.00000000e+00 -9.93234554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84742619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.33, Y:-1.00, Z:-0.02 [[ 9.99925951e-01 1.21692879e-02 0.00000000e+00 1.53332900e+02] [-1.21692879e-02 9.99925951e-01 0.00000000e+00 -9.97204819e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74862774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:153.40, Y:-1.00, Z:-0.02 [[ 9.99929546e-01 1.18702178e-02 0.00000000e+00 1.53395449e+02] [-1.18702178e-02 9.99929546e-01 0.00000000e+00 -9.95533784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75350013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:153.46, Y:-1.00, Z:-0.02 [[ 9.99944282e-01 1.05562138e-02 0.00000000e+00 1.53457354e+02] [-1.05562138e-02 9.99944282e-01 0.00000000e+00 -9.98528694e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71218754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.52, Y:-1.00, Z:-0.02 [[ 9.99940387e-01 1.09189079e-02 0.00000000e+00 1.53519329e+02] [-1.09189079e-02 9.99940387e-01 0.00000000e+00 -9.98289511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56821626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52232058799999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:153.58, Y:-1.00, Z:-0.01 [[ 9.99953125e-01 9.68232159e-03 0.00000000e+00 1.53581775e+02] [-9.68232159e-03 9.99953125e-01 0.00000000e+00 -1.00078206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35434591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.64, Y:-1.02, Z:-0.00 [[ 9.99625254e-01 -2.73742951e-02 0.00000000e+00 1.53643705e+02] [ 2.73742951e-02 9.99625254e-01 0.00000000e+00 -1.01580258e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84304899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.70, Y:-1.00, Z:-0.02 [[ 9.99992012e-01 3.99698282e-03 0.00000000e+00 1.53702450e+02] [-3.99698282e-03 9.99992012e-01 0.00000000e+00 -1.00320308e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54203014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.76, Y:-1.01, Z:-0.02 [[ 9.99999995e-01 1.02989112e-04 0.00000000e+00 1.53763832e+02] [-1.02989112e-04 9.99999995e-01 0.00000000e+00 -1.01007057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56003583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.82, Y:-1.02, Z:0.00 [[ 9.99999855e-01 -5.37704545e-04 0.00000000e+00 1.53824270e+02] [ 5.37704545e-04 9.99999855e-01 0.00000000e+00 -1.01767298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54937868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.88, Y:-1.02, Z:-0.01 [[ 9.99999898e-01 4.52059686e-04 0.00000000e+00 1.53884356e+02] [-4.52059686e-04 9.99999898e-01 0.00000000e+00 -1.02455273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44685350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.94, Y:-1.03, Z:-0.02 [[ 9.99994940e-01 3.18132727e-03 0.00000000e+00 1.53944862e+02] [-3.18132727e-03 9.99994940e-01 0.00000000e+00 -1.03134189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70945271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.01, Y:-1.04, Z:-0.02 [[ 9.99970787e-01 7.64360467e-03 0.00000000e+00 1.54006381e+02] [-7.64360467e-03 9.99970787e-01 0.00000000e+00 -1.04236284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76435272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002320588 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:-1.05, Z:0.00 [[ 9.99896351e-01 1.43974446e-02 0.00000000e+00 1.54068173e+02] [-1.43974446e-02 9.99896351e-01 0.00000000e+00 -1.04614578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77412869e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062320588 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:154.13, Y:-1.05, Z:0.00 [[ 9.99740285e-01 2.27895211e-02 0.00000000e+00 1.54130621e+02] [-2.27895211e-02 9.99740285e-01 0.00000000e+00 -1.04842632e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22505426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:154.19, Y:-1.05, Z:-0.01 [[ 9.99692865e-01 2.47825557e-02 0.00000000e+00 1.54192271e+02] [-2.47825557e-02 9.99692865e-01 0.00000000e+00 -1.04891076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46814640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.25, Y:-1.05, Z:-0.02 [[ 9.99603693e-01 2.81506044e-02 0.00000000e+00 1.54254118e+02] [-2.81506044e-02 9.99603693e-01 0.00000000e+00 -1.04618486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50768913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.32, Y:-1.05, Z:-0.01 [[ 9.99595692e-01 2.84332992e-02 0.00000000e+00 1.54315907e+02] [-2.84332992e-02 9.99595692e-01 0.00000000e+00 -1.04724387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49084944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.38, Y:-1.05, Z:-0.01 [[ 9.99583789e-01 2.88487286e-02 0.00000000e+00 1.54378045e+02] [-2.88487286e-02 9.99583789e-01 0.00000000e+00 -1.04533915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28060014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.44, Y:-1.04, Z:-0.02 [[ 9.99507152e-01 3.13919387e-02 0.00000000e+00 1.54440446e+02] [-3.13919387e-02 9.99507152e-01 0.00000000e+00 -1.04179943e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57409869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.50, Y:-1.04, Z:-0.02 [[ 9.99494318e-01 3.17979260e-02 0.00000000e+00 1.54502163e+02] [-3.17979260e-02 9.99494318e-01 0.00000000e+00 -1.04219086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63208423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.56, Y:-1.04, Z:-0.02 [[ 9.99617150e-01 2.76686503e-02 0.00000000e+00 1.54564504e+02] [-2.76686503e-02 9.99617150e-01 0.00000000e+00 -1.04347426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56451636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.63, Y:-1.05, Z:-0.02 [[ 9.99692036e-01 2.48159974e-02 0.00000000e+00 1.54626781e+02] [-2.48159974e-02 9.99692036e-01 0.00000000e+00 -1.05252709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64464055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.69, Y:-1.05, Z:-0.02 [[ 9.99742454e-01 2.26941766e-02 0.00000000e+00 1.54689243e+02] [-2.26941766e-02 9.99742454e-01 0.00000000e+00 -1.05408247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73826622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.75, Y:-1.06, Z:-0.01 [[ 9.99672384e-01 2.55954030e-02 0.00000000e+00 1.54751163e+02] [-2.55954030e-02 9.99672384e-01 0.00000000e+00 -1.05968304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25750502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.81, Y:-1.06, Z:-0.01 [[ 9.99561031e-01 2.96267780e-02 0.00000000e+00 1.54812953e+02] [-2.96267780e-02 9.99561031e-01 0.00000000e+00 -1.06207386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36342981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:-1.06, Z:-0.01 [[ 9.99283010e-01 3.78611439e-02 0.00000000e+00 1.54875319e+02] [-3.78611439e-02 9.99283010e-01 0.00000000e+00 -1.06182781e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47086564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.94, Y:-1.06, Z:-0.01 [[ 9.99061481e-01 4.33146393e-02 0.00000000e+00 1.54937132e+02] [-4.33146393e-02 9.99061481e-01 0.00000000e+00 -1.05745770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44955781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.00, Y:-1.05, Z:-0.02 [[ 9.98773223e-01 4.95181673e-02 0.00000000e+00 1.54999851e+02] [-4.95181673e-02 9.98773223e-01 0.00000000e+00 -1.04865734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67529371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.06, Y:-1.04, Z:-0.02 [[ 9.98536861e-01 5.40752929e-02 0.00000000e+00 1.55061754e+02] [-5.40752929e-02 9.98536861e-01 0.00000000e+00 -1.04480438e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61794368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:-1.04, Z:-0.02 [[ 9.98263364e-01 5.89088748e-02 0.00000000e+00 1.55124225e+02] [-5.89088748e-02 9.98263364e-01 0.00000000e+00 -1.03525717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55893469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.19, Y:-1.03, Z:-0.02 [[ 9.98272247e-01 5.87581641e-02 0.00000000e+00 1.55185987e+02] [-5.87581641e-02 9.98272247e-01 0.00000000e+00 -1.02901707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55259410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.25, Y:-1.02, Z:-0.01 [[ 9.98298217e-01 5.83152558e-02 0.00000000e+00 1.55248459e+02] [-5.83152558e-02 9.98298217e-01 0.00000000e+00 -1.02188672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.46147892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.202320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:155.31, Y:-1.01, Z:-0.01 [[ 9.98383573e-01 5.68352168e-02 0.00000000e+00 1.55310620e+02] [-5.68352168e-02 9.98383573e-01 0.00000000e+00 -1.01371825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18850888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.37, Y:-1.01, Z:-0.01 [[ 9.98476903e-01 5.51713145e-02 0.00000000e+00 1.55372860e+02] [-5.51713145e-02 9.98476903e-01 0.00000000e+00 -1.00604586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22080677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.44, Y:-1.00, Z:-0.01 [[ 9.98514170e-01 5.44926832e-02 0.00000000e+00 1.55435893e+02] [-5.44926832e-02 9.98514170e-01 0.00000000e+00 -9.97131237e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43475031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.50, Y:-0.99, Z:-0.02 [[ 9.98822116e-01 4.85219665e-02 0.00000000e+00 1.55498139e+02] [-4.85219665e-02 9.98822116e-01 0.00000000e+00 -9.86173021e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52598695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.56, Y:-0.98, Z:-0.01 [[ 9.98947226e-01 4.58741744e-02 0.00000000e+00 1.55560013e+02] [-4.58741744e-02 9.98947226e-01 0.00000000e+00 -9.81337647e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40173982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.62, Y:-0.97, Z:-0.02 [[ 9.99148505e-01 4.12585229e-02 0.00000000e+00 1.55622196e+02] [-4.12585229e-02 9.99148505e-01 0.00000000e+00 -9.68456431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62802238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.68, Y:-0.97, Z:-0.02 [[ 9.99289703e-01 3.76840802e-02 0.00000000e+00 1.55684263e+02] [-3.76840802e-02 9.99289703e-01 0.00000000e+00 -9.67196379e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69743744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.75, Y:-0.96, Z:-0.01 [[ 9.99337090e-01 3.64057898e-02 0.00000000e+00 1.55746268e+02] [-3.64057898e-02 9.99337090e-01 0.00000000e+00 -9.55090060e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38885322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.81, Y:-0.95, Z:-0.01 [[ 9.99260299e-01 3.84558940e-02 0.00000000e+00 1.55808768e+02] [-3.84558940e-02 9.99260299e-01 0.00000000e+00 -9.47043429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24844539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.87, Y:-0.94, Z:-0.01 [[ 9.99244457e-01 3.88653376e-02 0.00000000e+00 1.55871111e+02] [-3.88653376e-02 9.99244457e-01 0.00000000e+00 -9.38360245e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35137373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.802320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:155.93, Y:-0.94, Z:-0.02 [[ 9.99325975e-01 3.67096096e-02 0.00000000e+00 1.55933414e+02] [-3.67096096e-02 9.99325975e-01 0.00000000e+00 -9.36192679e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67286035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:156.00, Y:-0.93, Z:-0.02 [[ 9.99445143e-01 3.33077445e-02 0.00000000e+00 1.55995376e+02] [-3.33077445e-02 9.99445143e-01 0.00000000e+00 -9.32898308e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59747593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.06, Y:-0.93, Z:-0.01 [[ 9.99501716e-01 3.15645405e-02 0.00000000e+00 1.56057197e+02] [-3.15645405e-02 9.99501716e-01 0.00000000e+00 -9.26240144e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49261679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.12, Y:-0.92, Z:-0.02 [[ 9.99389882e-01 3.49265400e-02 0.00000000e+00 1.56118648e+02] [-3.49265400e-02 9.99389882e-01 0.00000000e+00 -9.23774018e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.95167442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:156.18, Y:-0.92, Z:-0.02 [[ 9.99355515e-01 3.58964400e-02 0.00000000e+00 1.56179767e+02] [-3.58964400e-02 9.99355515e-01 0.00000000e+00 -9.19626081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67671681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.102320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:156.24, Y:-0.92, Z:-0.01 [[ 9.99342639e-01 3.62531270e-02 0.00000000e+00 1.56241052e+02] [-3.62531270e-02 9.99342639e-01 0.00000000e+00 -9.18543239e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49182942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.30, Y:-0.91, Z:-0.02 [[ 9.99342019e-01 3.62702143e-02 0.00000000e+00 1.56302424e+02] [-3.62702143e-02 9.99342019e-01 0.00000000e+00 -9.11141081e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.68453781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.36, Y:-0.91, Z:-0.02 [[ 9.99425447e-01 3.38936045e-02 0.00000000e+00 1.56364236e+02] [-3.38936045e-02 9.99425447e-01 0.00000000e+00 -9.05706761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83166194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.43, Y:-0.90, Z:-0.02 [[ 9.99448732e-01 3.31998666e-02 0.00000000e+00 1.56426049e+02] [-3.31998666e-02 9.99448732e-01 0.00000000e+00 -9.01210386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56460287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.49, Y:-0.89, Z:-0.02 [[ 9.99507485e-01 3.13813188e-02 0.00000000e+00 1.56487719e+02] [-3.13813188e-02 9.99507485e-01 0.00000000e+00 -8.92261502e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69274225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.55, Y:-0.89, Z:-0.02 [[ 9.99568495e-01 2.93738710e-02 0.00000000e+00 1.56549372e+02] [-2.93738710e-02 9.99568495e-01 0.00000000e+00 -8.85537336e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.77254606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:156.61, Y:-0.88, Z:-0.02 [[ 9.99605777e-01 2.80765054e-02 0.00000000e+00 1.56610431e+02] [-2.80765054e-02 9.99605777e-01 0.00000000e+00 -8.82992525e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99471231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.67, Y:-0.88, Z:-0.00 [[ 9.99675577e-01 2.54704079e-02 0.00000000e+00 1.56670809e+02] [-2.54704079e-02 9.99675577e-01 0.00000000e+00 -8.76951813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.49273417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.73, Y:-0.87, Z:-0.02 [[ 9.99682753e-01 2.51871496e-02 0.00000000e+00 1.56731159e+02] [-2.51871496e-02 9.99682753e-01 0.00000000e+00 -8.68974947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58986948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.79, Y:-0.86, Z:-0.02 [[ 9.99705877e-01 2.42519827e-02 0.00000000e+00 1.56791312e+02] [-2.42519827e-02 9.99705877e-01 0.00000000e+00 -8.63403076e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79881869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.85, Y:-0.86, Z:-0.02 [[ 9.99781514e-01 2.09027342e-02 0.00000000e+00 1.56851950e+02] [-2.09027342e-02 9.99781514e-01 0.00000000e+00 -8.61111225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97522777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.91, Y:-0.86, Z:-0.02 [[ 9.99869420e-01 1.61599319e-02 0.00000000e+00 1.56912165e+02] [-1.61599319e-02 9.99869420e-01 0.00000000e+00 -8.57611788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97451798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.97, Y:-0.85, Z:-0.02 [[ 9.99862631e-01 1.65746629e-02 0.00000000e+00 1.56973059e+02] [-1.65746629e-02 9.99862631e-01 0.00000000e+00 -8.51332908e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87643633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:157.03, Y:-0.85, Z:0.00 [[ 9.99848653e-01 1.73974551e-02 0.00000000e+00 1.57033178e+02] [-1.73974551e-02 9.99848653e-01 0.00000000e+00 -8.47950977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92440315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.09, Y:-0.85, Z:-0.02 [[ 9.99931221e-01 1.17283259e-02 0.00000000e+00 1.57093444e+02] [-1.17283259e-02 9.99931221e-01 0.00000000e+00 -8.51223063e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27519666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.15, Y:-0.85, Z:-0.02 [[ 9.99981218e-01 6.12886354e-03 0.00000000e+00 1.57153447e+02] [-6.12886354e-03 9.99981218e-01 0.00000000e+00 -8.51669738e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21323531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.21, Y:-0.85, Z:-0.02 [[ 9.99992891e-01 3.77071430e-03 0.00000000e+00 1.57213526e+02] [-3.77071430e-03 9.99992891e-01 0.00000000e+00 -8.54143611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19912523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.27, Y:-0.85, Z:-0.02 [[ 9.99990991e-01 4.24482910e-03 0.00000000e+00 1.57273640e+02] [-4.24482910e-03 9.99990991e-01 0.00000000e+00 -8.54219345e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02965055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.33, Y:-0.86, Z:-0.02 [[ 9.99979317e-01 6.43160267e-03 0.00000000e+00 1.57333962e+02] [-6.43160267e-03 9.99979317e-01 0.00000000e+00 -8.55103071e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21047721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:-0.86, Z:-0.02 [[ 9.99978703e-01 6.52638279e-03 0.00000000e+00 1.57393930e+02] [-6.52638279e-03 9.99978703e-01 0.00000000e+00 -8.62209331e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28925129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.302320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:157.45, Y:-0.87, Z:-0.02 [[ 9.99983565e-01 5.73317630e-03 0.00000000e+00 1.57454583e+02] [-5.73317630e-03 9.99983565e-01 0.00000000e+00 -8.65286268e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17792699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:157.51, Y:-0.87, Z:-0.01 [[ 9.99988065e-01 4.88565267e-03 0.00000000e+00 1.57514978e+02] [-4.88565267e-03 9.99988065e-01 0.00000000e+00 -8.73994100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37350593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.58, Y:-0.88, Z:-0.02 [[ 9.99977657e-01 6.68466130e-03 0.00000000e+00 1.57575786e+02] [-6.68466130e-03 9.99977657e-01 0.00000000e+00 -8.82719982e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49259023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.64, Y:-0.88, Z:-0.02 [[ 9.99891178e-01 1.47523652e-02 0.00000000e+00 1.57636452e+02] [-1.47523652e-02 9.99891178e-01 0.00000000e+00 -8.82141242e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37611675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.70, Y:-0.89, Z:-0.02 [[ 9.99710556e-01 2.40583323e-02 0.00000000e+00 1.57696637e+02] [-2.40583323e-02 9.99710556e-01 0.00000000e+00 -8.85482919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34371497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.76, Y:-0.89, Z:-0.02 [[ 9.99654716e-01 2.62763828e-02 0.00000000e+00 1.57756951e+02] [-2.62763828e-02 9.99654716e-01 0.00000000e+00 -8.88057580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.33003834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.82, Y:-0.89, Z:-0.02 [[ 9.99581980e-01 2.89113182e-02 0.00000000e+00 1.57817070e+02] [-2.89113182e-02 9.99581980e-01 0.00000000e+00 -8.87689360e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15455359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.88, Y:-0.88, Z:-0.02 [[ 9.99478655e-01 3.22864882e-02 0.00000000e+00 1.57877605e+02] [-3.22864882e-02 9.99478655e-01 0.00000000e+00 -8.79259133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.32509877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.94, Y:-0.89, Z:-0.02 [[ 9.99476062e-01 3.23666735e-02 0.00000000e+00 1.57938253e+02] [-3.23666735e-02 9.99476062e-01 0.00000000e+00 -8.85123790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38288807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.00, Y:-0.88, Z:-0.02 [[ 9.99671303e-01 2.56376082e-02 0.00000000e+00 1.57999185e+02] [-2.56376082e-02 9.99671303e-01 0.00000000e+00 -8.81121156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44607666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.06, Y:-0.88, Z:-0.02 [[ 9.99759665e-01 2.19228760e-02 0.00000000e+00 1.58059193e+02] [-2.19228760e-02 9.99759665e-01 0.00000000e+00 -8.81367838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.45476228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:158.12, Y:-0.88, Z:-0.01 [[ 9.99863075e-01 1.65478674e-02 0.00000000e+00 1.58120019e+02] [-1.65478674e-02 9.99863075e-01 0.00000000e+00 -8.82516745e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69310357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.18, Y:-0.88, Z:-0.02 [[ 9.99865952e-01 1.63731094e-02 0.00000000e+00 1.58180356e+02] [-1.63731094e-02 9.99865952e-01 0.00000000e+00 -8.84905861e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34745125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.24, Y:-0.89, Z:-0.02 [[ 9.99943306e-01 1.06481843e-02 0.00000000e+00 1.58240831e+02] [-1.06481843e-02 9.99943306e-01 0.00000000e+00 -8.90148107e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42516949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.30, Y:-0.90, Z:-0.02 [[ 9.99999950e-01 -3.17797009e-04 0.00000000e+00 1.58301732e+02] [ 3.17797009e-04 9.99999950e-01 0.00000000e+00 -8.96042661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46624950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.36, Y:-0.91, Z:-0.02 [[ 9.99979201e-01 -6.44963370e-03 0.00000000e+00 1.58362598e+02] [ 6.44963370e-03 9.99979201e-01 0.00000000e+00 -9.07341156e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42587133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.42, Y:-0.91, Z:-0.02 [[ 9.99959777e-01 -8.96907250e-03 0.00000000e+00 1.58423485e+02] [ 8.96907250e-03 9.99959777e-01 0.00000000e+00 -9.11646887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43622343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.48, Y:-0.93, Z:-0.02 [[ 9.99954195e-01 -9.57117054e-03 0.00000000e+00 1.58483473e+02] [ 9.57117054e-03 9.99954195e-01 0.00000000e+00 -9.25866120e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48770803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.54, Y:-0.93, Z:-0.02 [[ 9.99959453e-01 -9.00509357e-03 0.00000000e+00 1.58544198e+02] [ 9.00509357e-03 9.99959453e-01 0.00000000e+00 -9.32805576e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46209026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.60, Y:-0.95, Z:-0.03 [[ 9.99975513e-01 -6.99805419e-03 0.00000000e+00 1.58604016e+02] [ 6.99805419e-03 9.99975513e-01 0.00000000e+00 -9.48304255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67128230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.66, Y:-0.95, Z:-0.03 [[ 9.99990624e-01 -4.33043285e-03 0.00000000e+00 1.58664412e+02] [ 4.33043285e-03 9.99990624e-01 0.00000000e+00 -9.52979794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54358037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:-0.96, Z:-0.02 [[ 9.99994897e-01 3.19462016e-03 0.00000000e+00 1.58725303e+02] [-3.19462016e-03 9.99994897e-01 0.00000000e+00 -9.58614793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42215815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.79, Y:-0.97, Z:-0.02 [[ 9.99960412e-01 8.89802346e-03 0.00000000e+00 1.58785846e+02] [-8.89802346e-03 9.99960412e-01 0.00000000e+00 -9.65041213e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36707683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:158.85, Y:-0.97, Z:-0.02 [[ 9.99827976e-01 1.85477340e-02 0.00000000e+00 1.58847440e+02] [-1.85477340e-02 9.99827976e-01 0.00000000e+00 -9.65586656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43251677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:158.91, Y:-0.96, Z:-0.02 [[ 9.99650760e-01 2.64264807e-02 0.00000000e+00 1.58908855e+02] [-2.64264807e-02 9.99650760e-01 0.00000000e+00 -9.58618404e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.19098416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:158.97, Y:-0.95, Z:-0.01 [[ 9.99521188e-01 3.09418094e-02 0.00000000e+00 1.58970437e+02] [-3.09418094e-02 9.99521188e-01 0.00000000e+00 -9.54744582e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.49283581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.03, Y:-0.96, Z:-0.02 [[ 9.99535748e-01 3.04678176e-02 0.00000000e+00 1.59031937e+02] [-3.04678176e-02 9.99535748e-01 0.00000000e+00 -9.55387755e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03810587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:-0.96, Z:-0.02 [[ 9.99683805e-01 2.51453825e-02 0.00000000e+00 1.59094471e+02] [-2.51453825e-02 9.99683805e-01 0.00000000e+00 -9.55437835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87847492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:159.16, Y:-0.96, Z:-0.02 [[ 9.99820212e-01 1.89616328e-02 0.00000000e+00 1.59155444e+02] [-1.89616328e-02 9.99820212e-01 0.00000000e+00 -9.55555838e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92467047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.22, Y:-0.96, Z:-0.02 [[ 9.99873358e-01 1.59144120e-02 0.00000000e+00 1.59217222e+02] [-1.59144120e-02 9.99873358e-01 0.00000000e+00 -9.56569794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90043051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:-0.97, Z:-0.02 [[ 9.99919591e-01 1.26811250e-02 0.00000000e+00 1.59278525e+02] [-1.26811250e-02 9.99919591e-01 0.00000000e+00 -9.66393825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59078639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.34, Y:-0.97, Z:-0.02 [[ 9.99956286e-01 9.35020056e-03 0.00000000e+00 1.59339999e+02] [-9.35020056e-03 9.99956286e-01 0.00000000e+00 -9.69392088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71506189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.40, Y:-0.98, Z:-0.02 [[ 9.99976613e-01 6.83907245e-03 0.00000000e+00 1.59400969e+02] [-6.83907245e-03 9.99976613e-01 0.00000000e+00 -9.77077482e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00689432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.46, Y:-0.99, Z:-0.02 [[ 9.99970718e-01 7.65260391e-03 0.00000000e+00 1.59461766e+02] [-7.65260391e-03 9.99970718e-01 0.00000000e+00 -9.86016581e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50475122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.52, Y:-0.99, Z:-0.02 [[ 9.99917784e-01 1.28228302e-02 0.00000000e+00 1.59522958e+02] [-1.28228302e-02 9.99917784e-01 0.00000000e+00 -9.91863973e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63519323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.58, Y:-0.99, Z:-0.02 [[ 9.99852331e-01 1.71847518e-02 0.00000000e+00 1.59583921e+02] [-1.71847518e-02 9.99852331e-01 0.00000000e+00 -9.92121477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90821020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.65, Y:-0.99, Z:-0.02 [[ 9.99736280e-01 2.29645446e-02 0.00000000e+00 1.59645591e+02] [-2.29645446e-02 9.99736280e-01 0.00000000e+00 -9.94694657e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00456276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.71, Y:-1.00, Z:-0.02 [[ 9.99612727e-01 2.78279690e-02 0.00000000e+00 1.59707234e+02] [-2.78279690e-02 9.99612727e-01 0.00000000e+00 -9.96495721e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.86644330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.77, Y:-0.99, Z:-0.02 [[ 9.99562894e-01 2.95638378e-02 0.00000000e+00 1.59769542e+02] [-2.95638378e-02 9.99562894e-01 0.00000000e+00 -9.91452178e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90463583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:-0.99, Z:-0.02 [[ 9.99469935e-01 3.25553165e-02 0.00000000e+00 1.59832085e+02] [-3.25553165e-02 9.99469935e-01 0.00000000e+00 -9.85908052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05391827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:-0.98, Z:-0.02 [[ 9.99362214e-01 3.57094633e-02 0.00000000e+00 1.59894389e+02] [-3.57094633e-02 9.99362214e-01 0.00000000e+00 -9.80528617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43107286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.96, Y:-0.97, Z:-0.02 [[ 9.99338547e-01 3.63657496e-02 0.00000000e+00 1.59956974e+02] [-3.63657496e-02 9.99338547e-01 0.00000000e+00 -9.70645914e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14644293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.02, Y:-0.96, Z:-0.02 [[ 9.99479493e-01 3.22605493e-02 0.00000000e+00 1.60019095e+02] [-3.22605493e-02 9.99479493e-01 0.00000000e+00 -9.64009885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93008346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.08, Y:-0.96, Z:-0.03 [[ 9.99646837e-01 2.65744321e-02 0.00000000e+00 1.60081363e+02] [-2.65744321e-02 9.99646837e-01 0.00000000e+00 -9.58578214e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.61859589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.14, Y:-0.94, Z:-0.04 [[ 9.99950270e-01 9.97287110e-03 0.00000000e+00 1.60142700e+02] [-9.97287110e-03 9.99950270e-01 0.00000000e+00 -9.38136267e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88001603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.20, Y:-0.94, Z:-0.04 [[ 9.99912854e-01 1.32016450e-02 0.00000000e+00 1.60202854e+02] [-1.32016450e-02 9.99912854e-01 0.00000000e+00 -9.37816422e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95479910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.26, Y:-0.94, Z:-0.04 [[ 9.99912854e-01 1.32016450e-02 0.00000000e+00 1.60263848e+02] [-1.32016450e-02 9.99912854e-01 0.00000000e+00 -9.38632519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.95479910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.32, Y:-0.94, Z:-0.04 [[ 9.99882804e-01 1.53094028e-02 0.00000000e+00 1.60324028e+02] [-1.53094028e-02 9.99882804e-01 0.00000000e+00 -9.39901386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20453130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182320588 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:160.38, Y:-0.94, Z:-0.03 [[ 9.99867436e-01 1.62822061e-02 0.00000000e+00 1.60384480e+02] [-1.62822061e-02 9.99867436e-01 0.00000000e+00 -9.43228864e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99130323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24232058799998 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:160.45, Y:-0.94, Z:-0.03 [[ 9.99866310e-01 1.63512053e-02 0.00000000e+00 1.60446258e+02] [-1.63512053e-02 9.99866310e-01 0.00000000e+00 -9.44039686e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99130323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:160.51, Y:-0.95, Z:-0.04 [[ 9.99858650e-01 1.68131020e-02 0.00000000e+00 1.60507027e+02] [-1.68131020e-02 9.99858650e-01 0.00000000e+00 -9.48568000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42648855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:-0.95, Z:-0.04 [[ 9.99857497e-01 1.68814907e-02 0.00000000e+00 1.60568852e+02] [-1.68814907e-02 9.99857497e-01 0.00000000e+00 -9.49383088e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.42648855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.422320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:160.63, Y:-0.95, Z:-0.03 [[ 9.99887146e-01 1.50231583e-02 0.00000000e+00 1.60629413e+02] [-1.50231583e-02 9.99887146e-01 0.00000000e+00 -9.53264510e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19214936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:160.69, Y:-0.95, Z:-0.04 [[ 9.99910338e-01 1.33909197e-02 0.00000000e+00 1.60689457e+02] [-1.33909197e-02 9.99910338e-01 0.00000000e+00 -9.54358431e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27351632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:160.75, Y:-0.96, Z:-0.04 [[ 9.99909407e-01 1.34602172e-02 0.00000000e+00 1.60751283e+02] [-1.34602172e-02 9.99909407e-01 0.00000000e+00 -9.55178186e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27351632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:160.81, Y:-0.95, Z:-0.04 [[ 9.99936856e-01 1.12376296e-02 0.00000000e+00 1.60811689e+02] [-1.12376296e-02 9.99936856e-01 0.00000000e+00 -9.54456848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08182087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:160.87, Y:-0.95, Z:-0.04 [[ 9.99912079e-01 1.32602385e-02 0.00000000e+00 1.60871847e+02] [-1.32602385e-02 9.99912079e-01 0.00000000e+00 -9.50459100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63919697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:160.93, Y:-0.95, Z:-0.04 [[ 9.99912079e-01 1.32602385e-02 0.00000000e+00 1.60932841e+02] [-1.32602385e-02 9.99912079e-01 0.00000000e+00 -9.51286999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.63919697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:160.99, Y:-0.95, Z:-0.04 [[ 9.99910884e-01 1.33500387e-02 0.00000000e+00 1.60993336e+02] [-1.33500387e-02 9.99910884e-01 0.00000000e+00 -9.53224924e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60247756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:161.05, Y:-0.95, Z:-0.04 [[ 9.99910884e-01 1.33500387e-02 0.00000000e+00 1.61054330e+02] [-1.33500387e-02 9.99910884e-01 0.00000000e+00 -9.54052834e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60247756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:161.11, Y:-0.96, Z:-0.02 [[ 9.99871742e-01 1.60156284e-02 0.00000000e+00 1.61114489e+02] [-1.60156284e-02 9.99871742e-01 0.00000000e+00 -9.55192430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01821775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:161.18, Y:-0.96, Z:-0.02 [[ 9.99870631e-01 1.60848103e-02 0.00000000e+00 1.61176278e+02] [-1.60848103e-02 9.99870631e-01 0.00000000e+00 -9.56015045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.01821775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02232058799999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:161.24, Y:-0.96, Z:-0.02 [[ 9.99806317e-01 1.96806396e-02 0.00000000e+00 1.61236916e+02] [-1.96806396e-02 9.99806317e-01 0.00000000e+00 -9.55319129e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03804708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.082320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:161.30, Y:-0.96, Z:-0.02 [[ 9.99804977e-01 1.97486147e-02 0.00000000e+00 1.61298713e+02] [-1.97486147e-02 9.99804977e-01 0.00000000e+00 -9.56145895e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.03804708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.36, Y:-0.95, Z:-0.03 [[ 9.99780503e-01 2.09510465e-02 0.00000000e+00 1.61359669e+02] [-2.09510465e-02 9.99780503e-01 0.00000000e+00 -9.54321380e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45284660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.42, Y:-0.96, Z:-0.03 [[ 9.99779060e-01 2.10198026e-02 0.00000000e+00 1.61421497e+02] [-2.10198026e-02 9.99779060e-01 0.00000000e+00 -9.55154223e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45284660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.48, Y:-0.96, Z:-0.03 [[ 9.99777612e-01 2.10885585e-02 0.00000000e+00 1.61483325e+02] [-2.10885585e-02 9.99777612e-01 0.00000000e+00 -9.55991318e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45284660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.54, Y:-0.95, Z:-0.03 [[ 9.99692277e-01 2.48062875e-02 0.00000000e+00 1.61544277e+02] [-2.48062875e-02 9.99692277e-01 0.00000000e+00 -9.52619167e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19188393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.61, Y:-0.95, Z:-0.03 [[ 9.99690582e-01 2.48744998e-02 0.00000000e+00 1.61606105e+02] [-2.48744998e-02 9.99690582e-01 0.00000000e+00 -9.53464996e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19188393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:-0.95, Z:-0.02 [[ 9.99544608e-01 3.01757547e-02 0.00000000e+00 1.61666373e+02] [-3.01757547e-02 9.99544608e-01 0.00000000e+00 -9.49439765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65824605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:-0.94, Z:-0.03 [[ 9.99453108e-01 3.30678839e-02 0.00000000e+00 1.61727383e+02] [-3.30678839e-02 9.99453108e-01 0.00000000e+00 -9.44897258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03184929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.79, Y:-0.94, Z:-0.03 [[ 9.99279623e-01 3.79504311e-02 0.00000000e+00 1.61788341e+02] [-3.79504311e-02 9.99279623e-01 0.00000000e+00 -9.39328473e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15051285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.85, Y:-0.90, Z:-0.01 [[ 9.99464594e-01 3.27188755e-02 0.00000000e+00 1.61848655e+02] [-3.27188755e-02 9.99464594e-01 0.00000000e+00 -9.04158074e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37475916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:161.91, Y:-0.90, Z:-0.01 [[ 9.99643184e-01 2.67115003e-02 0.00000000e+00 1.61908585e+02] [-2.67115003e-02 9.99643184e-01 0.00000000e+00 -9.00919263e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22674259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:-0.90, Z:-0.01 [[ 9.99644983e-01 2.66440829e-02 0.00000000e+00 1.61968727e+02] [-2.66440829e-02 9.99644983e-01 0.00000000e+00 -9.01768488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22674259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.03, Y:-0.90, Z:-0.03 [[ 9.99789041e-01 2.05395705e-02 0.00000000e+00 1.62028678e+02] [-2.05395705e-02 9.99789041e-01 0.00000000e+00 -8.98482352e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02534969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:-0.90, Z:-0.03 [[ 9.99790420e-01 2.04723036e-02 0.00000000e+00 1.62088827e+02] [-2.04723036e-02 9.99790420e-01 0.00000000e+00 -8.99326190e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02534969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.15, Y:-0.90, Z:-0.03 [[ 9.99791796e-01 2.04050366e-02 0.00000000e+00 1.62148977e+02] [-2.04050366e-02 9.99791796e-01 0.00000000e+00 -9.00165981e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02534969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.21, Y:-0.90, Z:-0.03 [[ 9.99879079e-01 1.55508251e-02 0.00000000e+00 1.62208580e+02] [-1.55508251e-02 9.99879079e-01 0.00000000e+00 -8.97168281e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08823968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:162.27, Y:-0.90, Z:-0.01 [[ 9.99943106e-01 1.06670002e-02 0.00000000e+00 1.62268390e+02] [-1.06670002e-02 9.99943106e-01 0.00000000e+00 -8.95697091e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38374814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:162.33, Y:-0.90, Z:-0.01 [[ 9.99943106e-01 1.06670002e-02 0.00000000e+00 1.62329379e+02] [-1.06670002e-02 9.99943106e-01 0.00000000e+00 -8.96520569e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38374814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:162.39, Y:-0.90, Z:-0.01 [[ 9.99943106e-01 1.06670002e-02 0.00000000e+00 1.62390367e+02] [-1.06670002e-02 9.99943106e-01 0.00000000e+00 -8.97344048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38374814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.45, Y:-0.90, Z:-0.03 [[ 9.99980228e-01 6.28840885e-03 0.00000000e+00 1.62450551e+02] [-6.28840885e-03 9.99980228e-01 0.00000000e+00 -8.98160026e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03376928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.51, Y:-0.90, Z:-0.03 [[ 9.99996867e-01 2.50314093e-03 0.00000000e+00 1.62511080e+02] [-2.50314093e-03 9.99996867e-01 0.00000000e+00 -9.00158737e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89239030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.57, Y:-0.90, Z:-0.02 [[ 9.99977204e-01 -6.75216573e-03 0.00000000e+00 1.62571489e+02] [ 6.75216573e-03 9.99977204e-01 0.00000000e+00 -8.96350438e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44427708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.63, Y:-0.89, Z:-0.03 [[ 9.99962365e-01 -8.67571191e-03 0.00000000e+00 1.62632470e+02] [ 8.67571191e-03 9.99962365e-01 0.00000000e+00 -8.93845632e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52198284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.69, Y:-0.90, Z:-0.02 [[ 9.99955091e-01 -9.47717751e-03 0.00000000e+00 1.62693045e+02] [ 9.47717751e-03 9.99955091e-01 0.00000000e+00 -9.00769286e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.44267453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.75, Y:-0.90, Z:-0.02 [[ 9.99992669e-01 3.82903404e-03 0.00000000e+00 1.62753784e+02] [-3.82903404e-03 9.99992669e-01 0.00000000e+00 -9.04346333e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98804472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.81, Y:-0.91, Z:-0.02 [[ 9.99948881e-01 1.01111402e-02 0.00000000e+00 1.62814261e+02] [-1.01111402e-02 9.99948881e-01 0.00000000e+00 -9.11942238e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93876507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.642320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:162.87, Y:-0.91, Z:-0.00 [[ 9.99776503e-01 2.11410594e-02 0.00000000e+00 1.62874366e+02] [-2.11410594e-02 9.99776503e-01 0.00000000e+00 -9.14598135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65313165e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.702320588 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:162.93, Y:-0.82, Z:0.01 [[ 9.99255298e-01 3.85856216e-02 0.00000000e+00 1.62934178e+02] [-3.85856216e-02 9.99255298e-01 0.00000000e+00 -8.22044791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88437907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.762320588 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:162.99, Y:-0.82, Z:0.00 [[ 9.99368572e-01 3.55310797e-02 0.00000000e+00 1.62991956e+02] [-3.55310797e-02 9.99368572e-01 0.00000000e+00 -8.22222597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54595963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:-0.89, Z:-0.02 [[ 9.99516198e-01 3.11025707e-02 0.00000000e+00 1.63050459e+02] [-3.11025707e-02 9.99516198e-01 0.00000000e+00 -8.90307879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15967892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.11, Y:-0.88, Z:-0.02 [[ 9.99386861e-01 3.50128955e-02 0.00000000e+00 1.63108967e+02] [-3.50128955e-02 9.99386861e-01 0.00000000e+00 -8.80597578e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21403462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:163.17, Y:-0.87, Z:-0.01 [[ 9.99419433e-01 3.40704648e-02 0.00000000e+00 1.63168725e+02] [-3.40704648e-02 9.99419433e-01 0.00000000e+00 -8.74594511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48142725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:-0.87, Z:-0.00 [[ 9.99634945e-01 2.70180866e-02 0.00000000e+00 1.63227717e+02] [-2.70180866e-02 9.99634945e-01 0.00000000e+00 -8.68007013e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.99191862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062320588 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:-0.86, Z:-0.00 [[ 9.99770405e-01 2.14274861e-02 0.00000000e+00 1.63286123e+02] [-2.14274861e-02 9.99770405e-01 0.00000000e+00 -8.62323909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90902729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:-0.86, Z:-0.01 [[ 9.99893099e-01 1.46215857e-02 0.00000000e+00 1.63345304e+02] [-1.46215857e-02 9.99893099e-01 0.00000000e+00 -8.60237134e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19784478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.40, Y:-0.86, Z:-0.02 [[ 9.99965943e-01 8.25299042e-03 0.00000000e+00 1.63404780e+02] [-8.25299042e-03 9.99965943e-01 0.00000000e+00 -8.60386613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23229760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.46, Y:-0.86, Z:-0.02 [[ 9.99995342e-01 3.05211788e-03 0.00000000e+00 1.63464758e+02] [-3.05211788e-03 9.99995342e-01 0.00000000e+00 -8.58803559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47371664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.302320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:163.53, Y:-0.86, Z:-0.02 [[ 9.99991961e-01 -4.00968927e-03 0.00000000e+00 1.63525001e+02] [ 4.00968927e-03 9.99991961e-01 0.00000000e+00 -8.62755185e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.34430386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.59, Y:-0.87, Z:-0.02 [[ 9.99945529e-01 -1.04373670e-02 0.00000000e+00 1.63585140e+02] [ 1.04373670e-02 9.99945529e-01 0.00000000e+00 -8.71975386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.36212843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.65, Y:-0.87, Z:-0.02 [[ 9.99911630e-01 -1.32940319e-02 0.00000000e+00 1.63646494e+02] [ 1.32940319e-02 9.99911630e-01 0.00000000e+00 -8.71595424e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27848198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.482320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:163.71, Y:-0.89, Z:-0.01 [[ 9.99938553e-01 -1.10855473e-02 0.00000000e+00 1.63706990e+02] [ 1.10855473e-02 9.99938553e-01 0.00000000e+00 -8.85153435e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.34880029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:-0.89, Z:-0.02 [[ 9.99974131e-01 -7.19287456e-03 0.00000000e+00 1.63768444e+02] [ 7.19287456e-03 9.99974131e-01 0.00000000e+00 -8.88611414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.35062090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:163.83, Y:-0.90, Z:-0.01 [[ 9.99997069e-01 -2.42097597e-03 0.00000000e+00 1.63829231e+02] [ 2.42097597e-03 9.99997069e-01 0.00000000e+00 -8.95011243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10049958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:163.89, Y:-0.90, Z:-0.02 [[ 9.99998537e-01 1.71079792e-03 0.00000000e+00 1.63889405e+02] [-1.71079792e-03 9.99998537e-01 0.00000000e+00 -9.00868471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.42414044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.95, Y:-0.90, Z:-0.02 [[ 9.99996372e-01 2.69375993e-03 0.00000000e+00 1.63949457e+02] [-2.69375993e-03 9.99996372e-01 0.00000000e+00 -9.01092747e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43018446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:-0.90, Z:-0.03 [[ 9.99971598e-01 7.53676462e-03 0.00000000e+00 1.64010232e+02] [-7.53676462e-03 9.99971598e-01 0.00000000e+00 -8.96075284e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56577182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842320588 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:164.07, Y:-0.90, Z:-0.01 [[ 9.99927936e-01 1.20050997e-02 0.00000000e+00 1.64070507e+02] [-1.20050997e-02 9.99927936e-01 0.00000000e+00 -8.95884068e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75036374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902320588 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:164.13, Y:-0.88, Z:-0.00 [[ 9.99794364e-01 2.02787960e-02 0.00000000e+00 1.64130231e+02] [-2.02787960e-02 9.99794364e-01 0.00000000e+00 -8.81566001e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86162683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962320588 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:164.19, Y:-0.88, Z:-0.01 [[ 9.99742440e-01 2.26947762e-02 0.00000000e+00 1.64189629e+02] [-2.26947762e-02 9.99742440e-01 0.00000000e+00 -8.76165378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.82560018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02232058799999 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [True, True] Translation: X:164.25, Y:-0.87, Z:-0.00 [[ 9.99717739e-01 2.37579783e-02 0.00000000e+00 1.64248805e+02] [-2.37579783e-02 9.99717739e-01 0.00000000e+00 -8.74203243e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.77519838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082320588 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:164.31, Y:-0.86, Z:-0.01 [[ 9.99668710e-01 2.57384832e-02 0.00000000e+00 1.64307237e+02] [-2.57384832e-02 9.99668710e-01 0.00000000e+00 -8.62213030e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17069268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.37, Y:-0.86, Z:-0.03 [[ 9.99735352e-01 2.30049244e-02 0.00000000e+00 1.64366292e+02] [-2.30049244e-02 9.99735352e-01 0.00000000e+00 -8.57767942e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53793764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202320588 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:164.43, Y:-0.86, Z:-0.01 [[ 9.99955395e-01 9.44504592e-03 0.00000000e+00 1.64425396e+02] [-9.44504592e-03 9.99955395e-01 0.00000000e+00 -8.63423959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72622096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.49, Y:-0.87, Z:-0.03 [[ 9.99975901e-01 -6.94246786e-03 0.00000000e+00 1.64485413e+02] [ 6.94246786e-03 9.99975901e-01 0.00000000e+00 -8.67722543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79707802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:164.55, Y:-0.87, Z:-0.03 [[ 9.99886807e-01 -1.50457345e-02 0.00000000e+00 1.64546263e+02] [ 1.50457345e-02 9.99886807e-01 0.00000000e+00 -8.71002770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95639580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:-0.88, Z:-0.03 [[ 9.99812784e-01 -1.93493278e-02 0.00000000e+00 1.64607882e+02] [ 1.93493278e-02 9.99812784e-01 0.00000000e+00 -8.83238332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87936563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:164.67, Y:-0.89, Z:-0.03 [[ 9.99686409e-01 -2.50416582e-02 0.00000000e+00 1.64669839e+02] [ 2.50416582e-02 9.99686409e-01 0.00000000e+00 -8.91890959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72929309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.73, Y:-0.90, Z:-0.03 [[ 9.99682341e-01 -2.52034985e-02 0.00000000e+00 1.64732221e+02] [ 2.52034985e-02 9.99682341e-01 0.00000000e+00 -9.03772681e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72274327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.79, Y:-0.91, Z:-0.03 [[ 9.99762702e-01 -2.17839116e-02 0.00000000e+00 1.64794295e+02] [ 2.17839116e-02 9.99762702e-01 0.00000000e+00 -9.12040298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64660036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622320588 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:164.86, Y:-0.93, Z:-0.01 [[ 9.99812196e-01 -1.93797091e-02 0.00000000e+00 1.64855048e+02] [ 1.93797091e-02 9.99812196e-01 0.00000000e+00 -9.28524656e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75834158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:-0.93, Z:-0.02 [[ 9.99894609e-01 -1.45179757e-02 0.00000000e+00 1.64915951e+02] [ 1.45179757e-02 9.99894609e-01 0.00000000e+00 -9.34455543e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47530976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:164.98, Y:-0.94, Z:-0.02 [[ 9.99983098e-01 -5.81403691e-03 0.00000000e+00 1.64976864e+02] [ 5.81403691e-03 9.99983098e-01 0.00000000e+00 -9.37744533e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43863105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.802320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:-0.95, Z:-0.01 [[ 9.99999999e-01 4.33113674e-05 0.00000000e+00 1.65037091e+02] [-4.33113674e-05 9.99999999e-01 0.00000000e+00 -9.45013567e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.90697104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.862320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:165.10, Y:-0.94, Z:-0.02 [[ 9.99965373e-01 8.32184744e-03 0.00000000e+00 1.65096389e+02] [-8.32184744e-03 9.99965373e-01 0.00000000e+00 -9.44951612e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46811397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.922320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:165.16, Y:-0.94, Z:-0.01 [[ 9.99891316e-01 1.47430360e-02 0.00000000e+00 1.65156691e+02] [-1.47430360e-02 9.99891316e-01 0.00000000e+00 -9.39965157e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.74945037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:-0.94, Z:-0.02 [[ 9.99854067e-01 1.70834593e-02 0.00000000e+00 1.65216766e+02] [-1.70834593e-02 9.99854067e-01 0.00000000e+00 -9.44023191e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.46087203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042320588 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:165.28, Y:-0.94, Z:-0.01 [[ 9.99902486e-01 1.39649050e-02 0.00000000e+00 1.65276180e+02] [-1.39649050e-02 9.99902486e-01 0.00000000e+00 -9.39967051e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06667136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:-0.94, Z:-0.01 [[ 9.99959741e-01 8.97313289e-03 0.00000000e+00 1.65336602e+02] [-8.97313289e-03 9.99959741e-01 0.00000000e+00 -9.40542743e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50748564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:165.40, Y:-0.95, Z:-0.01 [[ 9.99991668e-01 4.08222937e-03 0.00000000e+00 1.65396723e+02] [-4.08222937e-03 9.99991668e-01 0.00000000e+00 -9.45748626e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96809373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.46, Y:-0.95, Z:-0.03 [[ 9.99999730e-01 -7.35103541e-04 0.00000000e+00 1.65457423e+02] [ 7.35103541e-04 9.99999730e-01 0.00000000e+00 -9.48284421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.06133784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:165.52, Y:-0.96, Z:-0.01 [[ 9.99999999e-01 -3.27610430e-05 0.00000000e+00 1.65517935e+02] [ 3.27610430e-05 9.99999999e-01 0.00000000e+00 -9.55281278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05073580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:165.58, Y:-0.96, Z:-0.01 [[ 9.99995291e-01 3.06902138e-03 0.00000000e+00 1.65578287e+02] [-3.06902138e-03 9.99995291e-01 0.00000000e+00 -9.63784387e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23318394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402320588 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:165.64, Y:-0.97, Z:-0.02 [[ 9.99989118e-01 4.66513261e-03 0.00000000e+00 1.65638828e+02] [-4.66513261e-03 9.99989118e-01 0.00000000e+00 -9.71140591e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75041364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.70, Y:-0.98, Z:-0.03 [[ 9.99981354e-01 6.10672934e-03 0.00000000e+00 1.65699437e+02] [-6.10672934e-03 9.99981354e-01 0.00000000e+00 -9.84568650e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.74181741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52232058799999 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:165.76, Y:-0.99, Z:-0.01 [[ 9.99897753e-01 1.42997414e-02 0.00000000e+00 1.65759634e+02] [-1.42997414e-02 9.99897753e-01 0.00000000e+00 -9.93731343e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49563067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.582320588 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:165.82, Y:-0.99, Z:-0.01 [[ 9.99646631e-01 2.65822085e-02 0.00000000e+00 1.65819788e+02] [-2.65822085e-02 9.99646631e-01 0.00000000e+00 -9.92927344e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05440564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.642320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:165.88, Y:-0.99, Z:-0.03 [[ 9.99543485e-01 3.02129427e-02 0.00000000e+00 1.65879867e+02] [-3.02129427e-02 9.99543485e-01 0.00000000e+00 -9.92628554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63638010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.94, Y:-0.99, Z:-0.03 [[ 9.99249020e-01 3.87478559e-02 0.00000000e+00 1.65940904e+02] [-3.87478559e-02 9.99249020e-01 0.00000000e+00 -9.91984145e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64989440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.762320588 meters Centerline goodness : 0.998028 with order 1 Centerline is valid? [True, True] Translation: X:166.00, Y:-0.99, Z:-0.01 [[ 9.99052807e-01 4.35142309e-02 0.00000000e+00 1.66001615e+02] [-4.35142309e-02 9.99052807e-01 0.00000000e+00 -9.87698509e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04442022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822320588 meters Centerline goodness : 0.998522 with order 1 Centerline is valid? [True, True] Translation: X:166.06, Y:-0.98, Z:-0.01 [[ 9.98923215e-01 4.63940893e-02 0.00000000e+00 1.66062572e+02] [-4.63940893e-02 9.98923215e-01 0.00000000e+00 -9.77186254e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00688920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.12, Y:-0.97, Z:-0.03 [[ 9.99029484e-01 4.40464452e-02 0.00000000e+00 1.66123374e+02] [-4.40464452e-02 9.99029484e-01 0.00000000e+00 -9.72215226e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.82750879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942320588 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:-0.97, Z:-0.01 [[ 9.99108045e-01 4.22269310e-02 0.00000000e+00 1.66183380e+02] [-4.22269310e-02 9.99108045e-01 0.00000000e+00 -9.68161850e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25962469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.24, Y:-0.96, Z:-0.03 [[ 9.99251278e-01 3.86895750e-02 0.00000000e+00 1.66243329e+02] [-3.86895750e-02 9.99251278e-01 0.00000000e+00 -9.57945830e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89416361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.30, Y:-0.96, Z:-0.03 [[ 9.99390962e-01 3.48956375e-02 0.00000000e+00 1.66303229e+02] [-3.48956375e-02 9.99390962e-01 0.00000000e+00 -9.55750101e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96296835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.36, Y:-0.96, Z:-0.03 [[ 9.99639701e-01 2.68415483e-02 0.00000000e+00 1.66363179e+02] [-2.68415483e-02 9.99639701e-01 0.00000000e+00 -9.56043079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.84101121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182320588 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:-0.96, Z:-0.01 [[ 9.99854194e-01 1.70760495e-02 0.00000000e+00 1.66423172e+02] [-1.70760495e-02 9.99854194e-01 0.00000000e+00 -9.56631370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.57879682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24232058799998 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:166.48, Y:-0.96, Z:-0.01 [[ 9.99951048e-01 9.89455290e-03 0.00000000e+00 1.66483961e+02] [-9.89455290e-03 9.99951048e-01 0.00000000e+00 -9.57493504e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20791428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.302320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:166.54, Y:-0.97, Z:-0.03 [[ 9.99994450e-01 3.33176424e-03 0.00000000e+00 1.66544033e+02] [-3.33176424e-03 9.99994450e-01 0.00000000e+00 -9.65469520e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00117674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:-0.97, Z:-0.03 [[ 9.99993845e-01 -3.50857758e-03 0.00000000e+00 1.66604544e+02] [ 3.50857758e-03 9.99993845e-01 0.00000000e+00 -9.69882437e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08294370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.67, Y:-0.99, Z:-0.03 [[ 9.99969523e-01 -7.80718295e-03 0.00000000e+00 1.66665033e+02] [ 7.80718295e-03 9.99969523e-01 0.00000000e+00 -9.85045176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03043024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.73, Y:-0.99, Z:-0.03 [[ 9.99983551e-01 -5.73560673e-03 0.00000000e+00 1.66725304e+02] [ 5.73560673e-03 9.99983551e-01 0.00000000e+00 -9.89278505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77551278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:166.79, Y:-1.00, Z:-0.03 [[ 9.99999930e-01 3.73675723e-04 0.00000000e+00 1.66785562e+02] [-3.73675723e-04 9.99999930e-01 0.00000000e+00 -9.99068423e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04428837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.85, Y:-1.01, Z:-0.03 [[ 9.99979980e-01 6.32766146e-03 0.00000000e+00 1.66846047e+02] [-6.32766146e-03 9.99979980e-01 0.00000000e+00 -1.00985056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96903244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662320588 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:166.91, Y:-1.02, Z:-0.01 [[ 9.99949679e-01 1.00319560e-02 0.00000000e+00 1.66906096e+02] [-1.00319560e-02 9.99949679e-01 0.00000000e+00 -1.01624302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37107603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:166.97, Y:-1.02, Z:-0.03 [[ 9.99762236e-01 2.18053185e-02 0.00000000e+00 1.66966767e+02] [-2.18053185e-02 9.99762236e-01 0.00000000e+00 -1.01734723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98389241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.03, Y:-1.02, Z:-0.03 [[ 9.99498835e-01 3.16556243e-02 0.00000000e+00 1.67028503e+02] [-3.16556243e-02 9.99498835e-01 0.00000000e+00 -1.01519870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96321812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.09, Y:-1.01, Z:-0.03 [[ 9.99184897e-01 4.03675731e-02 0.00000000e+00 1.67089376e+02] [-4.03675731e-02 9.99184897e-01 0.00000000e+00 -1.00993808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99654432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:167.15, Y:-1.00, Z:-0.03 [[ 9.99060415e-01 4.33392167e-02 0.00000000e+00 1.67150031e+02] [-4.33392167e-02 9.99060415e-01 0.00000000e+00 -9.97983773e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81053834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:167.21, Y:-0.99, Z:-0.01 [[ 9.99062477e-01 4.32916598e-02 0.00000000e+00 1.67210976e+02] [-4.32916598e-02 9.99062477e-01 0.00000000e+00 -9.93406739e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15220731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.27, Y:-0.98, Z:-0.03 [[ 9.99136872e-01 4.15392603e-02 0.00000000e+00 1.67270967e+02] [-4.15392603e-02 9.99136872e-01 0.00000000e+00 -9.83609765e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78349979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.082320588 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:167.33, Y:-0.98, Z:-0.01 [[ 9.99314662e-01 3.70163016e-02 0.00000000e+00 1.67330767e+02] [-3.70163016e-02 9.99314662e-01 0.00000000e+00 -9.76668587e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.81069200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:167.39, Y:-0.97, Z:-0.01 [[ 9.99530406e-01 3.06425864e-02 0.00000000e+00 1.67390731e+02] [-3.06425864e-02 9.99530406e-01 0.00000000e+00 -9.72758519e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31594238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202320588 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:167.45, Y:-0.97, Z:-0.01 [[ 9.99683655e-01 2.51513470e-02 0.00000000e+00 1.67451027e+02] [-2.51513470e-02 9.99683655e-01 0.00000000e+00 -9.67851732e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.09973220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:167.51, Y:-0.96, Z:-0.01 [[ 9.99737860e-01 2.28956588e-02 0.00000000e+00 1.67510695e+02] [-2.28956588e-02 9.99737860e-01 0.00000000e+00 -9.61594032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.92672465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.57, Y:-0.96, Z:-0.03 [[ 9.99695232e-01 2.46868891e-02 0.00000000e+00 1.67570406e+02] [-2.46868891e-02 9.99695232e-01 0.00000000e+00 -9.56487685e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73525902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:167.63, Y:-0.95, Z:-0.01 [[ 9.99731977e-01 2.31511208e-02 0.00000000e+00 1.67629665e+02] [-2.31511208e-02 9.99731977e-01 0.00000000e+00 -9.50619594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.30557050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442320588 meters Centerline goodness : 0.998121 with order 1 Centerline is valid? [True, True] Translation: X:167.69, Y:-0.95, Z:-0.00 [[ 9.99741508e-01 2.27358191e-02 0.00000000e+00 1.67689236e+02] [-2.27358191e-02 9.99741508e-01 0.00000000e+00 -9.47384505e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.45415835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.75, Y:-0.94, Z:-0.03 [[ 9.99612236e-01 2.78456067e-02 0.00000000e+00 1.67749214e+02] [-2.78456067e-02 9.99612236e-01 0.00000000e+00 -9.37054487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88158333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562320588 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:167.81, Y:-0.94, Z:-0.01 [[ 9.99667974e-01 2.57670543e-02 0.00000000e+00 1.67808424e+02] [-2.57670543e-02 9.99667974e-01 0.00000000e+00 -9.36548028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23574096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622320588 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:167.87, Y:-0.93, Z:-0.01 [[ 9.99776274e-01 2.11518680e-02 0.00000000e+00 1.67867378e+02] [-2.11518680e-02 9.99776274e-01 0.00000000e+00 -9.32971405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.10081816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682320588 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:167.93, Y:-0.92, Z:-0.01 [[ 9.99804840e-01 1.97555563e-02 0.00000000e+00 1.67926589e+02] [-1.97555563e-02 9.99804840e-01 0.00000000e+00 -9.22877940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26234009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:167.99, Y:-0.92, Z:-0.03 [[ 9.99775996e-01 2.11650003e-02 0.00000000e+00 1.67986089e+02] [-2.11650003e-02 9.99775996e-01 0.00000000e+00 -9.18046841e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76193792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.04, Y:-0.92, Z:-0.03 [[ 9.99865685e-01 1.63893735e-02 0.00000000e+00 1.68044611e+02] [-1.63893735e-02 9.99865685e-01 0.00000000e+00 -9.15720411e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63172851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:168.10, Y:-0.91, Z:-0.01 [[ 9.99931711e-01 1.16864500e-02 0.00000000e+00 1.68103763e+02] [-1.16864500e-02 9.99931711e-01 0.00000000e+00 -9.07651813e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39979415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.16, Y:-0.90, Z:-0.03 [[ 9.99967870e-01 8.01615164e-03 0.00000000e+00 1.68163772e+02] [-8.01615164e-03 9.99967870e-01 0.00000000e+00 -9.03731527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62970396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982320588 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:168.22, Y:-0.90, Z:-0.01 [[ 9.99999511e-01 -9.88960150e-04 0.00000000e+00 1.68223783e+02] [ 9.88960150e-04 9.99999511e-01 0.00000000e+00 -9.04844994e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.33913921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:168.28, Y:-0.91, Z:-0.01 [[ 9.99963524e-01 -8.54108688e-03 0.00000000e+00 1.68283895e+02] [ 8.54108688e-03 9.99963524e-01 0.00000000e+00 -9.07648152e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16082566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:168.35, Y:-0.91, Z:-0.03 [[ 9.99953991e-01 -9.59245195e-03 0.00000000e+00 1.68345068e+02] [ 9.59245195e-03 9.99953991e-01 0.00000000e+00 -9.12034540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.68525265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162320588 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:168.41, Y:-0.92, Z:-0.01 [[ 9.99951705e-01 -9.82792422e-03 0.00000000e+00 1.68406424e+02] [ 9.82792422e-03 9.99951705e-01 0.00000000e+00 -9.22704478e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36656804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.47, Y:-0.93, Z:-0.03 [[ 9.99952240e-01 -9.77326675e-03 0.00000000e+00 1.68467910e+02] [ 9.77326675e-03 9.99952240e-01 0.00000000e+00 -9.30056165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.87441957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.53, Y:-0.93, Z:-0.03 [[ 9.99979937e-01 -6.33443205e-03 0.00000000e+00 1.68529666e+02] [ 6.33443205e-03 9.99979937e-01 0.00000000e+00 -9.26943810e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51394066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:-0.93, Z:-0.03 [[ 9.99997829e-01 -2.08371751e-03 0.00000000e+00 1.68590342e+02] [ 2.08371751e-03 9.99997829e-01 0.00000000e+00 -9.30106559e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81665585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.65, Y:-0.93, Z:-0.03 [[ 9.99996366e-01 -2.69592619e-03 0.00000000e+00 1.68650987e+02] [ 2.69592619e-03 9.99996366e-01 0.00000000e+00 -9.34798119e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85038966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:168.71, Y:-0.94, Z:-0.01 [[ 9.99960209e-01 -8.92080134e-03 0.00000000e+00 1.68711271e+02] [ 8.92080134e-03 9.99960209e-01 0.00000000e+00 -9.38802487e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.76582113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52232058799999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:168.77, Y:-0.95, Z:-0.01 [[ 9.99929735e-01 -1.18542995e-02 0.00000000e+00 1.68772083e+02] [ 1.18542995e-02 9.99929735e-01 0.00000000e+00 -9.48936086e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20621049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.582320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:168.83, Y:-0.96, Z:-0.01 [[ 9.99869074e-01 -1.61813302e-02 0.00000000e+00 1.68833761e+02] [ 1.61813302e-02 9.99869074e-01 0.00000000e+00 -9.62613966e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42699264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.89, Y:-0.98, Z:-0.03 [[ 9.99879347e-01 -1.55335649e-02 0.00000000e+00 1.68894830e+02] [ 1.55335649e-02 9.99879347e-01 0.00000000e+00 -9.76672182e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16895847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:168.96, Y:-0.99, Z:-0.01 [[ 9.99956696e-01 -9.30625156e-03 0.00000000e+00 1.68955192e+02] [ 9.30625156e-03 9.99956696e-01 0.00000000e+00 -9.89870674e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04802588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.02, Y:-1.00, Z:-0.02 [[ 9.99991473e-01 -4.12958790e-03 0.00000000e+00 1.69015865e+02] [ 4.12958790e-03 9.99991473e-01 0.00000000e+00 -9.99221430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59670371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.08, Y:-1.00, Z:-0.03 [[ 9.99995513e-01 2.99568328e-03 0.00000000e+00 1.69075986e+02] [-2.99568328e-03 9.99995513e-01 0.00000000e+00 -1.00213875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38161504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.14, Y:-1.01, Z:-0.02 [[ 9.99962778e-01 8.62801302e-03 0.00000000e+00 1.69136058e+02] [-8.62801302e-03 9.99962778e-01 0.00000000e+00 -1.00580965e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55816793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.20, Y:-1.01, Z:-0.03 [[ 9.99893230e-01 1.46126282e-02 0.00000000e+00 1.69195975e+02] [-1.46126282e-02 9.99893230e-01 0.00000000e+00 -1.00666415e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41304471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:169.26, Y:-1.01, Z:-0.02 [[ 9.99840161e-01 1.78788156e-02 0.00000000e+00 1.69256329e+02] [-1.78788156e-02 9.99840161e-01 0.00000000e+00 -1.00788399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65592931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:169.32, Y:-1.01, Z:-0.01 [[ 9.99804691e-01 1.97630782e-02 0.00000000e+00 1.69316890e+02] [-1.97630782e-02 9.99804691e-01 0.00000000e+00 -1.00673135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28666662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.38, Y:-1.01, Z:-0.01 [[ 9.99752231e-01 2.22593180e-02 0.00000000e+00 1.69377072e+02] [-2.22593180e-02 9.99752231e-01 0.00000000e+00 -1.01123987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39771442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.44, Y:-1.01, Z:-0.03 [[ 9.99708518e-01 2.41429064e-02 0.00000000e+00 1.69437089e+02] [-2.41429064e-02 9.99708518e-01 0.00000000e+00 -1.00863255e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12712206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.50, Y:-1.00, Z:-0.03 [[ 9.99463148e-01 3.27630329e-02 0.00000000e+00 1.69497903e+02] [-3.27630329e-02 9.99463148e-01 0.00000000e+00 -9.99575661e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12337878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.56, Y:-1.00, Z:-0.03 [[ 9.99381294e-01 3.51714365e-02 0.00000000e+00 1.69558681e+02] [-3.51714365e-02 9.99381294e-01 0.00000000e+00 -9.97171477e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89754636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.362320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:-0.99, Z:-0.01 [[ 9.99386350e-01 3.50274678e-02 0.00000000e+00 1.69618174e+02] [-3.50274678e-02 9.99386350e-01 0.00000000e+00 -9.92937629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18667016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.68, Y:-0.98, Z:-0.03 [[ 9.99468034e-01 3.26136236e-02 0.00000000e+00 1.69677574e+02] [-3.26136236e-02 9.99468034e-01 0.00000000e+00 -9.83055154e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10622708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.482320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:169.74, Y:-0.98, Z:-0.02 [[ 9.99649788e-01 2.64632097e-02 0.00000000e+00 1.69736854e+02] [-2.64632097e-02 9.99649788e-01 0.00000000e+00 -9.84389571e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58601456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:169.80, Y:-0.99, Z:-0.01 [[ 9.99781823e-01 2.08879415e-02 0.00000000e+00 1.69796826e+02] [-2.08879415e-02 9.99781823e-01 0.00000000e+00 -9.85978417e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37578300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:-0.98, Z:-0.01 [[ 9.99854102e-01 1.70813879e-02 0.00000000e+00 1.69856219e+02] [-1.70813879e-02 9.99854102e-01 0.00000000e+00 -9.83059548e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28061054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.92, Y:-0.99, Z:-0.01 [[ 9.99897788e-01 1.42973113e-02 0.00000000e+00 1.69915888e+02] [-1.42973113e-02 9.99897788e-01 0.00000000e+00 -9.86734306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47545196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:169.98, Y:-0.99, Z:-0.01 [[ 9.99891117e-01 1.47565074e-02 0.00000000e+00 1.69976339e+02] [-1.47565074e-02 9.99891117e-01 0.00000000e+00 -9.89325816e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35578812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.04, Y:-0.99, Z:-0.01 [[ 9.99894494e-01 1.45258398e-02 0.00000000e+00 1.70036294e+02] [-1.45258398e-02 9.99894494e-01 0.00000000e+00 -9.92987165e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38863389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.10, Y:-1.00, Z:-0.03 [[ 9.99894284e-01 1.45403096e-02 0.00000000e+00 1.70096214e+02] [-1.45403096e-02 9.99894284e-01 0.00000000e+00 -9.95535531e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20952881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:170.16, Y:-1.00, Z:-0.01 [[ 9.99881853e-01 1.53714235e-02 0.00000000e+00 1.70156313e+02] [-1.53714235e-02 9.99881853e-01 0.00000000e+00 -9.99103711e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26091738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:170.22, Y:-1.01, Z:-0.02 [[ 9.99790070e-01 2.04894045e-02 0.00000000e+00 1.70216699e+02] [-2.04894045e-02 9.99790070e-01 0.00000000e+00 -1.00534897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51583098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:170.28, Y:-1.00, Z:-0.02 [[ 9.99685995e-01 2.50581706e-02 0.00000000e+00 1.70277635e+02] [-2.50581706e-02 9.99685995e-01 0.00000000e+00 -1.00010304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67276188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:170.34, Y:-1.00, Z:-0.03 [[ 9.99545557e-01 3.01443184e-02 0.00000000e+00 1.70337723e+02] [-3.01443184e-02 9.99545557e-01 0.00000000e+00 -1.00031122e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38613949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.40, Y:-1.00, Z:-0.03 [[ 9.99569023e-01 2.93558828e-02 0.00000000e+00 1.70397265e+02] [-2.93558828e-02 9.99569023e-01 0.00000000e+00 -9.96427225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33659714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:170.46, Y:-0.99, Z:-0.02 [[ 9.99612293e-01 2.78435564e-02 0.00000000e+00 1.70456667e+02] [-2.78435564e-02 9.99612293e-01 0.00000000e+00 -9.94357311e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98521142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.52, Y:-0.99, Z:-0.03 [[ 9.99583747e-01 2.88501896e-02 0.00000000e+00 1.70517002e+02] [-2.88501896e-02 9.99583747e-01 0.00000000e+00 -9.87865791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31403213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.58, Y:-0.99, Z:-0.04 [[ 9.99597492e-01 2.83699434e-02 0.00000000e+00 1.70577006e+02] [-2.83699434e-02 9.99597492e-01 0.00000000e+00 -9.86508098e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.65493828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:-0.98, Z:-0.04 [[ 9.99640624e-01 2.68071525e-02 0.00000000e+00 1.70636310e+02] [-2.68071525e-02 9.99640624e-01 0.00000000e+00 -9.84945282e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64691539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:-0.98, Z:-0.03 [[ 9.99695922e-01 2.46589354e-02 0.00000000e+00 1.70696426e+02] [-2.46589354e-02 9.99695922e-01 0.00000000e+00 -9.84578557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.27288276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.76, Y:-0.98, Z:-0.04 [[ 9.99767391e-01 2.15676564e-02 0.00000000e+00 1.70756137e+02] [-2.15676564e-02 9.99767391e-01 0.00000000e+00 -9.81091153e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51753714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.82, Y:-0.98, Z:-0.02 [[ 9.99828601e-01 1.85140257e-02 0.00000000e+00 1.70816234e+02] [-1.85140257e-02 9.99828601e-01 0.00000000e+00 -9.84952132e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81857898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:170.88, Y:-0.99, Z:-0.02 [[ 9.99861554e-01 1.66394837e-02 0.00000000e+00 1.70875585e+02] [-1.66394837e-02 9.99861554e-01 0.00000000e+00 -9.85513867e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71827461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.94, Y:-0.98, Z:-0.04 [[ 9.99851351e-01 1.72416645e-02 0.00000000e+00 1.70935539e+02] [-1.72416645e-02 9.99851351e-01 0.00000000e+00 -9.83902427e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.52959282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.00, Y:-0.99, Z:-0.02 [[ 9.99818832e-01 1.90342500e-02 0.00000000e+00 1.70995325e+02] [-1.90342500e-02 9.99818832e-01 0.00000000e+00 -9.85084367e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84055121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:171.06, Y:-0.98, Z:-0.01 [[ 9.99826577e-01 1.86230143e-02 0.00000000e+00 1.71055469e+02] [-1.86230143e-02 9.99826577e-01 0.00000000e+00 -9.84973888e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37280425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.11, Y:-0.99, Z:-0.04 [[ 9.99850595e-01 1.72854647e-02 0.00000000e+00 1.71114992e+02] [-1.72854647e-02 9.99850595e-01 0.00000000e+00 -9.86578370e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59760006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.18, Y:-0.99, Z:-0.02 [[ 9.99847035e-01 1.74901863e-02 0.00000000e+00 1.71175122e+02] [-1.74901863e-02 9.99847035e-01 0.00000000e+00 -9.87646999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.82182487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.23, Y:-0.98, Z:-0.02 [[ 9.99730888e-01 2.31980826e-02 0.00000000e+00 1.71234948e+02] [-2.31980826e-02 9.99730888e-01 0.00000000e+00 -9.77665528e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59079700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.29, Y:-0.97, Z:-0.04 [[ 9.99504162e-01 3.14869815e-02 0.00000000e+00 1.71294691e+02] [-3.14869815e-02 9.99504162e-01 0.00000000e+00 -9.74855962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59479002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.35, Y:-0.97, Z:-0.02 [[ 9.99401990e-01 3.45783416e-02 0.00000000e+00 1.71353681e+02] [-3.45783416e-02 9.99401990e-01 0.00000000e+00 -9.67489038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91130700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.41, Y:-0.96, Z:-0.03 [[ 9.99257169e-01 3.85371312e-02 0.00000000e+00 1.71413101e+02] [-3.85371312e-02 9.99257169e-01 0.00000000e+00 -9.56461781e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43799210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.47, Y:-0.95, Z:-0.02 [[ 9.99150335e-01 4.12141638e-02 0.00000000e+00 1.71471455e+02] [-4.12141638e-02 9.99150335e-01 0.00000000e+00 -9.45421959e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63015358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.53, Y:-0.94, Z:-0.04 [[ 9.99259976e-01 3.84642697e-02 0.00000000e+00 1.71530308e+02] [-3.84642697e-02 9.99259976e-01 0.00000000e+00 -9.36568386e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.51303338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.59, Y:-0.93, Z:-0.02 [[ 9.99478853e-01 3.22803712e-02 0.00000000e+00 1.71589674e+02] [-3.22803712e-02 9.99478853e-01 0.00000000e+00 -9.29818848e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69437835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.65, Y:-0.93, Z:-0.03 [[ 9.99552200e-01 2.99232311e-02 0.00000000e+00 1.71649082e+02] [-2.99232311e-02 9.99552200e-01 0.00000000e+00 -9.27499752e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40770710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.71, Y:-0.93, Z:-0.02 [[ 9.99781327e-01 2.09116728e-02 0.00000000e+00 1.71707426e+02] [-2.09116728e-02 9.99781327e-01 0.00000000e+00 -9.25018050e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75183118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.77, Y:-0.92, Z:-0.04 [[ 9.99916902e-01 1.28914230e-02 0.00000000e+00 1.71766127e+02] [-1.28914230e-02 9.99916902e-01 0.00000000e+00 -9.22653395e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60446540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.83, Y:-0.93, Z:-0.04 [[ 9.99983051e-01 5.82213053e-03 0.00000000e+00 1.71825216e+02] [-5.82213053e-03 9.99983051e-01 0.00000000e+00 -9.30844135e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62780684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.89, Y:-0.93, Z:-0.04 [[ 9.99995210e-01 3.09527897e-03 0.00000000e+00 1.71885113e+02] [-3.09527897e-03 9.99995210e-01 0.00000000e+00 -9.31871381e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58027709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.702320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.95, Y:-0.93, Z:-0.01 [[ 9.99976724e-01 6.82292957e-03 0.00000000e+00 1.71945439e+02] [-6.82292957e-03 9.99976724e-01 0.00000000e+00 -9.34063445e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49249277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.00, Y:-0.94, Z:-0.02 [[ 9.99929057e-01 1.19113735e-02 0.00000000e+00 1.72004836e+02] [-1.19113735e-02 9.99929057e-01 0.00000000e+00 -9.35663494e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97631134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.06, Y:-0.93, Z:-0.02 [[ 9.99886889e-01 1.50402609e-02 0.00000000e+00 1.72063973e+02] [-1.50402609e-02 9.99886889e-01 0.00000000e+00 -9.32571979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67305539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.12, Y:-0.93, Z:-0.04 [[ 9.99751611e-01 2.22871309e-02 0.00000000e+00 1.72123037e+02] [-2.22871309e-02 9.99751611e-01 0.00000000e+00 -9.27592383e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.57548988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.18, Y:-0.92, Z:-0.04 [[ 9.99652698e-01 2.63530577e-02 0.00000000e+00 1.72181759e+02] [-2.63530577e-02 9.99652698e-01 0.00000000e+00 -9.21241687e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94566735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:172.24, Y:-0.92, Z:-0.01 [[ 9.99589951e-01 2.86344057e-02 0.00000000e+00 1.72241101e+02] [-2.86344057e-02 9.99589951e-01 0.00000000e+00 -9.15811912e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25977668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:-0.90, Z:-0.04 [[ 9.99444402e-01 3.33299863e-02 0.00000000e+00 1.72300205e+02] [-3.33299863e-02 9.99444402e-01 0.00000000e+00 -9.03650465e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.55802514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:172.36, Y:-0.89, Z:-0.02 [[ 9.99463571e-01 3.27501038e-02 0.00000000e+00 1.72359179e+02] [-3.27501038e-02 9.99463571e-01 0.00000000e+00 -8.94942875e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69541014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.42, Y:-0.88, Z:-0.04 [[ 9.99511650e-01 3.12483770e-02 0.00000000e+00 1.72418028e+02] [-3.12483770e-02 9.99511650e-01 0.00000000e+00 -8.81444287e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.64280885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:172.48, Y:-0.87, Z:-0.02 [[ 9.99715280e-01 2.38612435e-02 0.00000000e+00 1.72477236e+02] [-2.38612435e-02 9.99715280e-01 0.00000000e+00 -8.69588802e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56406291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.54, Y:-0.86, Z:-0.03 [[ 9.99850773e-01 1.72751588e-02 0.00000000e+00 1.72535507e+02] [-1.72751588e-02 9.99850773e-01 0.00000000e+00 -8.63020369e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39504442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.59, Y:-0.86, Z:-0.04 [[ 9.99958579e-01 9.10164889e-03 0.00000000e+00 1.72594742e+02] [-9.10164889e-03 9.99958579e-01 0.00000000e+00 -8.55435557e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.68467213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:172.65, Y:-0.85, Z:-0.01 [[ 9.99982633e-01 5.89353080e-03 0.00000000e+00 1.72654744e+02] [-5.89353080e-03 9.99982633e-01 0.00000000e+00 -8.52368940e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13058273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.482320588 meters Centerline goodness : 0.946988 with order 3 Centerline is valid? [True, False] Translation: X:172.66, Y:-0.81, Z:0.00 [[ 9.99919503e-01 8.22690007e-03 -9.65947114e-03 1.72658363e+02] [-8.64712557e-03 9.98980853e-01 -4.42999258e-02 -8.14572676e-01] [ 9.28517565e-03 4.43798865e-02 9.98971577e-01 2.75553093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542320588 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [False, True] Translation: X:172.69, Y:-0.80, Z:0.01 [[ 9.99895275e-01 8.41543335e-04 -1.44475458e-02 1.72687485e+02] [-1.79494644e-03 9.97811048e-01 -6.61051533e-02 -7.99267844e-01] [ 1.43602904e-02 6.61241630e-02 9.97708062e-01 1.02309829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.75, Y:-0.86, Z:-0.03 [[ 9.99884579e-01 -5.75255258e-03 -1.40619239e-02 1.72747853e+02] [ 5.75436558e-03 9.99983440e-01 8.84722038e-05 -8.60109710e-01] [ 1.40611821e-02 -1.69379443e-04 9.99901122e-01 -2.91693477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:172.81, Y:-0.86, Z:-0.00 [[ 9.99853499e-01 -9.75927732e-03 -1.40619248e-02 1.72807891e+02] [ 9.76148450e-03 9.99952352e-01 8.83320820e-05 -8.62405429e-01] [ 1.40603927e-02 -2.25584402e-04 9.99901122e-01 -2.15099054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:-0.87, Z:-0.03 [[ 9.99858178e-01 -9.26751724e-03 -1.40619253e-02 1.72868106e+02] [ 9.26967463e-03 9.99957032e-01 8.82484984e-05 -8.67459474e-01] [ 1.40605032e-02 -2.18585455e-04 9.99901122e-01 -2.56716443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.93, Y:-0.87, Z:-0.03 [[ 9.99883863e-01 -5.87562906e-03 -1.40619261e-02 1.72926800e+02] [ 5.87744933e-03 9.99982724e-01 8.81234620e-05 -8.70377971e-01] [ 1.40611654e-02 -1.70761486e-04 9.99901122e-01 -2.59514100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.98, Y:-0.88, Z:-0.03 [[ 9.99886792e-01 -5.35383802e-03 -1.40619618e-02 1.72984193e+02] [ 5.35552049e-03 9.99985656e-01 8.19930869e-05 -8.79629476e-01] [ 1.40613212e-02 -1.57292930e-04 9.99901122e-01 -2.53793272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.04, Y:-0.88, Z:-0.02 [[ 9.99899284e-01 -1.91906260e-03 -1.40619998e-02 1.73042577e+02] [ 1.92030524e-03 9.99998153e-01 7.48671545e-05 -8.83864672e-01] [ 1.40618301e-02 -1.01862946e-04 9.99901122e-01 -2.45761599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.10, Y:-0.89, Z:-0.03 [[ 9.99901076e-01 3.13632664e-04 -1.40620301e-02 1.73100357e+02] [-3.12698217e-04 9.99999949e-01 6.86504661e-05 -8.89823354e-01] [ 1.40620509e-02 -6.42465031e-05 9.99901122e-01 -2.55052411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:-0.90, Z:-0.02 [[ 9.99896678e-01 2.98191600e-03 -1.40620617e-02 1.73158656e+02] [-2.98134694e-03 9.99995554e-01 6.14307786e-05 -8.98181352e-01] [ 1.40621823e-02 -1.95005470e-05 9.99901122e-01 -2.47787421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:173.22, Y:-0.90, Z:-0.00 [[ 9.99883554e-01 5.92752315e-03 -1.40620895e-02 1.73217113e+02] [-5.92734695e-03 9.99982432e-01 5.42078403e-05 -8.97702313e-01] [ 1.40621638e-02 2.91493554e-05 9.99901122e-01 -4.77497301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.142320588 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:173.28, Y:-0.90, Z:-0.00 [[ 9.99869006e-01 8.01424252e-03 -1.40620963e-02 1.73275516e+02] [-8.01429815e-03 9.99967884e-01 5.23962179e-05 -9.00569004e-01] [ 1.40620646e-02 6.03084779e-05 9.99901122e-01 -8.05910082e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202320588 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:173.33, Y:-0.90, Z:0.00 [[ 9.99764594e-01 1.65231480e-02 -1.40621170e-02 1.73334481e+02] [-1.65241343e-02 9.99863466e-01 4.60567062e-05 -9.00480932e-01] [ 1.40609581e-02 1.86318446e-04 9.99901122e-01 2.91185509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.39, Y:-0.90, Z:-0.02 [[ 9.99710523e-01 1.95224531e-02 -1.40621351e-02 1.73393942e+02] [-1.95238260e-02 9.99809391e-01 3.96599041e-05 -9.00212684e-01] [ 1.40602290e-02 2.34898255e-04 9.99901123e-01 -2.06601443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.45, Y:-0.90, Z:-0.02 [[ 9.99683866e-01 2.08428553e-02 -1.40621388e-02 1.73452130e+02] [-2.08443782e-02 9.99782732e-01 3.82772631e-05 -8.99497609e-01] [ 1.40598814e-02 2.54851378e-04 9.99901123e-01 -2.10616880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382320588 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:173.51, Y:-0.90, Z:0.01 [[ 9.99696033e-01 2.02508544e-02 -1.40621551e-02 1.73511784e+02] [-2.02524229e-02 9.99794898e-01 3.08676972e-05 -9.02573106e-01] [ 1.40598960e-02 2.53934397e-04 9.99901123e-01 5.17518910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442320588 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:173.57, Y:-0.89, Z:0.01 [[ 9.99602291e-01 2.44441258e-02 -1.40621561e-02 1.73570792e+02] [-2.44461154e-02 9.99701149e-01 3.04094084e-05 -8.92371995e-01] [ 1.40586969e-02 3.13367777e-04 9.99901123e-01 5.17914332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502320588 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:173.63, Y:-0.89, Z:0.00 [[ 9.99504535e-01 2.81591852e-02 -1.40621672e-02 1.73629373e+02] [-2.81616340e-02 9.99603382e-01 2.38829956e-05 -8.88429231e-01] [ 1.40572624e-02 3.72142443e-04 9.99901123e-01 4.58325211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562320588 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:173.69, Y:-0.88, Z:0.01 [[ 9.99516062e-01 2.77470341e-02 -1.40621753e-02 1.73688436e+02] [-2.77495347e-02 9.99614907e-01 1.73066164e-05 -8.77884923e-01] [ 1.40572402e-02 3.72920579e-04 9.99901123e-01 6.01606775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622320588 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:173.75, Y:-0.87, Z:0.01 [[ 9.99617731e-01 2.38043384e-02 -1.40621803e-02 1.73747374e+02] [-2.38065418e-02 9.99716584e-01 1.07050342e-05 -8.71462106e-01] [ 1.40584497e-02 3.24070941e-04 9.99901123e-01 7.78755108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682320588 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:173.81, Y:-0.86, Z:0.01 [[ 9.99651086e-01 2.23597935e-02 -1.40621822e-02 1.73805923e+02] [-2.23619461e-02 9.99749940e-01 4.16204477e-06 -8.63480608e-01] [ 1.40587589e-02 3.10297168e-04 9.99901123e-01 9.35425185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74232058799998 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:173.87, Y:-0.86, Z:0.01 [[ 9.99816519e-01 1.30070144e-02 -1.40621811e-02 1.73866015e+02] [-1.30083336e-02 9.99915388e-01 -2.34517142e-06 -8.57464144e-01] [ 1.40609608e-02 1.85270285e-04 9.99901123e-01 1.28606420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.802320588 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:173.92, Y:-0.85, Z:0.01 [[ 9.99842993e-01 1.07816956e-02 -1.40621810e-02 1.73924239e+02] [-1.07828014e-02 9.99941864e-01 -2.81645478e-06 -8.53318547e-01] [ 1.40613332e-02 1.54445718e-04 9.99901123e-01 1.36307135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.98, Y:-0.85, Z:-0.01 [[ 9.99864732e-01 8.53066617e-03 -1.40621802e-02 1.73984375e+02] [-8.53158220e-03 9.99963605e-01 -5.15204950e-06 -8.53523042e-01] [ 1.40616245e-02 1.25123999e-04 9.99901123e-01 -1.16114126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.04, Y:-0.86, Z:-0.01 [[ 9.99898696e-01 2.20280869e-03 -1.40621800e-02 1.74042470e+02] [-2.20310545e-03 9.99997573e-01 -5.61257815e-06 -8.55411497e-01] [ 1.40621335e-02 3.65924750e-05 9.99901123e-01 -7.19155082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.982320588 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:174.10, Y:-0.85, Z:0.01 [[ 9.99898302e-01 -2.37493546e-03 -1.40621733e-02 1.74101918e+02] [ 2.37498893e-03 9.99997180e-01 -1.28972208e-05 -8.54472863e-01] [ 1.40621643e-02 -2.05015968e-05 9.99901123e-01 1.44642442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.16, Y:-0.85, Z:-0.01 [[ 9.99900730e-01 -8.86462620e-04 -1.40621724e-02 1.74162703e+02] [ 8.86356024e-04 9.99999607e-01 -1.38126701e-05 -8.54707259e-01] [ 1.40621791e-02 1.34720769e-06 9.99901123e-01 -6.06701865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:-0.86, Z:-0.00 [[ 9.99893607e-01 -3.87680349e-03 -1.40621729e-02 1.74221106e+02] [ 3.87699884e-03 9.99992484e-01 -1.33688882e-05 -8.57173631e-01] [ 1.40621190e-02 -4.11515620e-05 9.99901123e-01 -3.55554452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:-0.86, Z:-0.00 [[ 9.99848324e-01 -1.02754298e-02 -1.40621709e-02 1.74279691e+02] [ 1.02762323e-02 9.99947198e-01 -1.51898137e-05 -8.62967531e-01] [ 1.40615845e-02 -1.29318625e-04 9.99901123e-01 -3.73815061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:174.34, Y:-0.87, Z:-0.00 [[ 9.99781999e-01 -1.54340811e-02 -1.40621687e-02 1.74338632e+02] [ 1.54353687e-02 9.99880867e-01 -1.69710924e-05 -8.66856903e-01] [ 1.40607554e-02 -2.00087366e-04 9.99901123e-01 -1.64350625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.40, Y:-0.88, Z:-0.00 [[ 9.99722319e-01 -1.89087636e-02 -1.40621664e-02 1.74397282e+02] [ 1.89103701e-02 9.99821183e-01 -1.87310821e-05 -8.76078536e-01] [ 1.40600060e-02 -2.47194890e-04 9.99901123e-01 -3.03602896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.46, Y:-0.89, Z:-0.00 [[ 9.99703016e-01 -1.99031574e-02 -1.40621638e-02 1.74455560e+02] [ 1.99048376e-02 9.99801879e-01 -2.04811043e-05 -8.87544033e-01] [ 1.40597855e-02 -2.59430066e-04 9.99901123e-01 -1.84164221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:-0.90, Z:0.00 [[ 9.99650701e-01 -2.23770438e-02 -1.40621587e-02 1.74514892e+02] [ 2.23789253e-02 9.99749560e-01 -2.35639126e-05 -8.96939878e-01] [ 1.40591642e-02 -2.91140316e-04 9.99901123e-01 6.44502019e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:-0.91, Z:0.00 [[ 9.99595972e-01 -2.47011654e-02 -1.40621563e-02 1.74574111e+02] [ 2.47032582e-02 9.99694828e-01 -2.48823942e-05 -9.07339494e-01] [ 1.40584796e-02 -3.22508738e-04 9.99901123e-01 4.83460377e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.63, Y:-0.92, Z:0.00 [[ 9.99564971e-01 -2.59253479e-02 -1.40621531e-02 1.74633246e+02] [ 2.59275375e-02 9.99663825e-01 -2.66025352e-05 -9.15541504e-01] [ 1.40581154e-02 -3.38006039e-04 9.99901123e-01 9.85960147e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.69, Y:-0.93, Z:0.00 [[ 9.99597418e-01 -2.46426050e-02 -1.40621496e-02 1.74692072e+02] [ 2.46446434e-02 9.99696274e-01 -2.83348165e-05 -9.29484958e-01] [ 1.40585768e-02 -3.18233253e-04 9.99901123e-01 1.15535809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:-0.93, Z:0.02 [[ 9.99681169e-01 -2.09717984e-02 -1.40621459e-02 1.74751459e+02] [ 2.09734495e-02 9.99780033e-01 -3.00617802e-05 -9.33516056e-01] [ 1.40596831e-02 -2.64879512e-04 9.99901123e-01 2.37124507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:-0.94, Z:0.00 [[ 9.99795975e-01 -1.45004773e-02 -1.40621440e-02 1.74810911e+02] [ 1.45014760e-02 9.99894848e-01 -3.09464312e-05 -9.39088368e-01] [ 1.40611140e-02 -1.72981726e-04 9.99901123e-01 2.24156934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762320588 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:174.87, Y:-0.94, Z:0.02 [[ 9.99865516e-01 -8.43838414e-03 -1.40621276e-02 1.74869202e+02] [ 8.43869623e-03 9.99964393e-01 -3.71432708e-05 -9.41902228e-01] [ 1.40619403e-02 -8.15277475e-05 9.99901123e-01 2.37824677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:174.93, Y:-0.94, Z:0.02 [[ 9.99878542e-01 -6.71993761e-03 -1.40621080e-02 1.74927549e+02] [ 6.71999061e-03 9.99977420e-01 -4.34823257e-05 -9.43276251e-01] [ 1.40620827e-02 -5.10201892e-05 9.99901123e-01 2.02517789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882320588 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:174.99, Y:-0.95, Z:0.02 [[ 9.99893058e-01 -4.01616412e-03 -1.40621004e-02 1.74985322e+02] [ 4.01591701e-03 9.99991935e-01 -4.58101787e-05 -9.50088208e-01] [ 1.40621710e-02 -1.06669485e-05 9.99901123e-01 2.23759558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.04, Y:-0.95, Z:0.01 [[ 9.99876977e-01 -6.94897274e-03 -1.40620724e-02 1.75044551e+02] [ 6.94891156e-03 9.99975855e-01 -5.32112906e-05 -9.50203696e-01] [ 1.40621026e-02 -4.45113531e-05 9.99901123e-01 7.22708358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:175.10, Y:-0.95, Z:0.02 [[ 9.99885815e-01 -5.53316897e-03 -1.40620651e-02 1.75103394e+02] [ 5.53294160e-03 9.99984692e-01 -5.50733034e-05 -9.52180177e-01] [ 1.40621546e-02 -2.27375702e-05 9.99901123e-01 2.34131488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:175.16, Y:-0.95, Z:0.02 [[ 9.99873787e-01 -7.39389696e-03 -1.40620369e-02 1.75161969e+02] [ 7.39376285e-03 9.99972664e-01 -6.15260549e-05 -9.53745619e-01] [ 1.40621074e-02 -4.24530764e-05 9.99901123e-01 2.49014515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.22, Y:-0.96, Z:0.01 [[ 9.99816544e-01 -1.30053183e-02 -1.40620285e-02 1.75220974e+02] [ 1.30057129e-02 9.99915420e-01 -6.33913250e-05 -9.60301194e-01] [ 1.40616635e-02 -1.19507009e-04 9.99901123e-01 7.32321074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.28, Y:-0.96, Z:0.01 [[ 9.99771978e-01 -1.60702241e-02 -1.40620200e-02 1.75279651e+02] [ 1.60708961e-02 9.99870853e-01 -6.52181432e-05 -9.61779179e-01] [ 1.40612520e-02 -1.60785991e-04 9.99901123e-01 7.45124376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24232058799998 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:175.34, Y:-0.97, Z:0.03 [[ 9.99637935e-01 -2.29403106e-02 -1.40620114e-02 1.75338373e+02] [ 2.29416367e-02 9.99736804e-01 -6.70208838e-05 -9.67217465e-01] [ 1.40598478e-02 -2.55608939e-04 9.99901123e-01 2.93586948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.40, Y:-0.98, Z:0.01 [[ 9.99466243e-01 -2.94871011e-02 -1.40620026e-02 1.75397462e+02] [ 2.94890496e-02 9.99565101e-01 -6.88121458e-05 -9.77770997e-01] [ 1.40579162e-02 -3.45899676e-04 9.99901123e-01 8.88172188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:175.46, Y:-0.99, Z:0.01 [[ 9.99296286e-01 -3.47734539e-02 -1.40619937e-02 1.75456753e+02] [ 3.47759002e-02 9.99395133e-01 -7.05977220e-05 -9.90319718e-01] [ 1.40559430e-02 -4.18470447e-04 9.99901123e-01 6.34817269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.52, Y:-1.00, Z:0.01 [[ 9.99074788e-01 -4.06426844e-02 -1.40619847e-02 1.75515474e+02] [ 4.06456868e-02 9.99173620e-01 -7.23328050e-05 -1.00300492e+00] [ 1.40533040e-02 -4.99293146e-04 9.99901123e-01 9.67433080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482320588 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:175.57, Y:-1.02, Z:0.04 [[ 9.99042650e-01 -4.14251755e-02 -1.40619757e-02 1.75574783e+02] [ 4.14282313e-02 9.99141480e-01 -7.40476814e-05 -1.01742576e+00] [ 1.40529707e-02 -5.08585990e-04 9.99901123e-01 3.61647821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.63, Y:-1.03, Z:0.01 [[ 9.98948049e-01 -4.36469572e-02 -1.40619712e-02 1.75634257e+02] [ 4.36502207e-02 9.99046872e-01 -7.48997165e-05 -1.02751431e+00] [ 1.40518375e-02 -5.38987220e-04 9.99901123e-01 1.09784677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.69, Y:-1.04, Z:0.01 [[ 9.98966422e-01 -4.32244048e-02 -1.40619642e-02 1.75692971e+02] [ 4.32276085e-02 9.99065247e-01 -7.61806982e-05 -1.03775097e+00] [ 1.40521126e-02 -5.31763125e-04 9.99901123e-01 1.27773914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.75, Y:-1.06, Z:0.01 [[ 9.98886814e-01 -4.50266013e-02 -1.40619548e-02 1.75751809e+02] [ 4.50299593e-02 9.98985634e-01 -7.78876211e-05 -1.05655208e+00] [ 1.40511978e-02 -5.55408334e-04 9.99901123e-01 1.28741648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.81, Y:-1.07, Z:0.01 [[ 9.98842860e-01 -4.59913396e-02 -1.40619451e-02 1.75810221e+02] [ 4.59947689e-02 9.98941677e-01 -7.96049626e-05 -1.06805672e+00] [ 1.40507241e-02 -5.67263065e-04 9.99901123e-01 1.24674608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.87, Y:-1.09, Z:0.02 [[ 9.99089696e-01 -4.02745863e-02 -1.40619326e-02 1.75869039e+02] [ 4.02774199e-02 9.99188532e-01 -8.17469229e-05 -1.08705664e+00] [ 1.40538141e-02 -4.84705857e-04 9.99901123e-01 1.50869793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.93, Y:-1.09, Z:0.02 [[ 9.99291540e-01 -3.49096153e-02 -1.40619223e-02 1.75927997e+02] [ 3.49118939e-02 9.99390391e-01 -8.34776169e-05 -1.09377651e+00] [ 1.40562642e-02 -4.07509865e-04 9.99901123e-01 1.59703301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902320588 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:175.99, Y:-1.11, Z:0.04 [[ 9.99592724e-01 -2.48324065e-02 -1.40619117e-02 1.75987608e+02] [ 2.48336637e-02 9.99691593e-01 -8.52301770e-05 -1.11446899e+00] [ 1.40596914e-02 -2.64013322e-04 9.99901123e-01 3.89564681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.05, Y:-1.12, Z:0.02 [[ 9.99731918e-01 -1.83944168e-02 -1.40619062e-02 1.76048020e+02] [ 1.83950245e-02 9.99830794e-01 -8.61343673e-05 -1.12271939e+00] [ 1.40611112e-02 -1.72557833e-04 9.99901123e-01 1.81938718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02232058799999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:176.11, Y:-1.12, Z:0.03 [[ 9.99830671e-01 -1.18697762e-02 -1.40619029e-02 1.76106655e+02] [ 1.18697312e-02 9.99929549e-01 -8.66626547e-05 -1.12316509e+00] [ 1.40619409e-02 -8.02630281e-05 9.99901123e-01 3.37897693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.082320588 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:176.17, Y:-1.12, Z:0.05 [[ 9.99900471e-01 -1.14532873e-03 -1.40618591e-02 1.76166457e+02] [ 1.14413031e-03 9.99999341e-01 -9.32698198e-05 -1.12163051e+00] [ 1.40619567e-02 7.71719377e-05 9.99901123e-01 4.66794967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.23, Y:-1.12, Z:0.02 [[ 9.99865641e-01 8.42406090e-03 -1.40618576e-02 1.76227186e+02] [-8.42620873e-03 9.99964495e-01 -9.35003797e-05 -1.12260630e+00] [ 1.40605706e-02 2.11975964e-04 9.99901123e-01 2.00564306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202320588 meters Centerline goodness : 0.997281 with order 1 Centerline is valid? [True, True] Translation: X:176.29, Y:-1.11, Z:0.05 [[ 9.99877627e-01 6.85528854e-03 -1.40618601e-02 1.76287157e+02] [-6.85727592e-03 9.99976484e-01 -9.31199402e-05 -1.11438540e+00] [ 1.40608910e-02 1.89534599e-04 9.99901123e-01 4.63595735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262320588 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:176.35, Y:-1.11, Z:0.04 [[ 9.99890925e-01 4.51691211e-03 -1.40618596e-02 1.76346180e+02] [-4.51866935e-03 9.99989786e-01 -9.31952257e-05 -1.11342264e+00] [ 1.40612950e-02 1.56725954e-04 9.99901123e-01 4.28369521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322320588 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:176.41, Y:-1.11, Z:0.04 [[ 9.99899797e-01 1.63157881e-03 -1.40618136e-02 1.76406786e+02] [-1.63314192e-03 9.99998661e-01 -9.96776534e-05 -1.11086475e+00] [ 1.40616322e-02 1.22632603e-04 9.99901123e-01 4.02996520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:176.47, Y:-1.11, Z:0.04 [[ 9.99881815e-01 -6.21468180e-03 -1.40618136e-02 1.76465530e+02] [ 6.21389453e-03 9.99980689e-01 -9.96776534e-05 -1.11103183e+00] [ 1.40621615e-02 1.22872461e-05 9.99901123e-01 4.19266254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:176.52, Y:-1.12, Z:0.04 [[ 9.99803434e-01 -1.39770730e-02 -1.40617999e-02 1.76524438e+02] [ 1.39770267e-02 9.99902311e-01 -1.01574691e-04 -1.11540620e+00] [ 1.40618460e-02 -9.49874279e-05 9.99901123e-01 4.29900157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:176.58, Y:-1.12, Z:0.04 [[ 9.99688899e-01 -2.06002733e-02 -1.40617859e-02 1.76583980e+02] [ 2.06008552e-02 9.99787775e-01 -1.03483448e-04 -1.12135520e+00] [ 1.40609334e-02 -1.86233560e-04 9.99901123e-01 4.30082595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.64, Y:-1.13, Z:0.02 [[ 9.99609883e-01 -2.41318922e-02 -1.40617789e-02 1.76644217e+02] [ 2.41328101e-02 9.99708756e-01 -1.04427027e-04 -1.12871701e+00] [ 1.40602035e-02 -2.34963951e-04 9.99901123e-01 2.41517662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:176.70, Y:-1.14, Z:0.02 [[ 9.99567006e-01 -2.58469940e-02 -1.40617754e-02 1.76703427e+02] [ 2.58480750e-02 9.99665877e-01 -1.04894927e-04 -1.14061444e+00] [ 1.40597882e-02 -2.58620317e-04 9.99901123e-01 2.41233220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.76, Y:-1.15, Z:0.03 [[ 9.99650245e-01 -2.23976489e-02 -1.40617614e-02 1.76762097e+02] [ 2.23983628e-02 9.99749120e-01 -1.06738597e-04 -1.14740137e+00] [ 1.40606243e-02 -2.08259169e-04 9.99901123e-01 2.61513853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74232058799998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:176.82, Y:-1.16, Z:0.05 [[ 9.99731167e-01 -1.84353560e-02 -1.40617087e-02 1.76821392e+02] [ 1.84355859e-02 9.99830044e-01 -1.13284113e-04 -1.15708668e+00] [ 1.40614072e-02 -1.45982179e-04 9.99901123e-01 4.63927875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.802320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:176.88, Y:-1.17, Z:0.05 [[ 9.99835321e-01 -1.14717092e-02 -1.40617010e-02 1.76880791e+02] [ 1.14712373e-02 9.99934197e-01 -1.14221401e-04 -1.16574586e+00] [ 1.40620861e-02 -4.71025184e-05 9.99901123e-01 4.94273378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.94, Y:-1.17, Z:0.03 [[ 9.99882953e-01 -6.02911117e-03 -1.40616474e-02 1.76941039e+02] [ 6.02801294e-03 9.99981824e-01 -1.20483870e-04 -1.16545515e+00] [ 1.40621182e-02 3.57059754e-05 9.99901123e-01 2.98239853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.922320588 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:177.00, Y:-1.18, Z:0.05 [[ 9.99890926e-01 4.51731329e-03 -1.40616432e-02 1.77000856e+02] [-4.51946105e-03 9.99989780e-01 -1.20965225e-04 -1.17601080e+00] [ 1.40609531e-02 1.84503080e-04 9.99901123e-01 5.35938458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.06, Y:-1.18, Z:0.03 [[ 9.99883670e-01 5.90910618e-03 -1.40616403e-02 1.77061940e+02] [-5.91139640e-03 9.99982520e-01 -1.21311450e-04 -1.17649674e+00] [ 1.40606776e-02 2.04421267e-04 9.99901123e-01 3.17753885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042320588 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:177.12, Y:-1.17, Z:0.05 [[ 9.99866685e-01 8.29955751e-03 -1.40616390e-02 1.77122083e+02] [-8.30208617e-03 9.99965530e-01 -1.21461965e-04 -1.17389038e+00] [ 1.40601462e-02 2.38186710e-04 9.99901123e-01 5.47088288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102320588 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:-1.18, Z:0.06 [[ 9.99864039e-01 8.61245513e-03 -1.40616379e-02 1.77181364e+02] [-8.61501642e-03 9.99962883e-01 -1.21582499e-04 -1.17791244e+00] [ 1.40600689e-02 2.42707211e-04 9.99901123e-01 5.88281379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:177.24, Y:-1.18, Z:0.03 [[ 9.99842978e-01 1.07838172e-02 -1.40615794e-02 1.77241901e+02] [-1.07866836e-02 9.99941814e-01 -1.28013614e-04 -1.17711842e+00] [ 1.40593807e-02 2.79671320e-04 9.99901123e-01 3.41502708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222320588 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:177.30, Y:-1.18, Z:0.06 [[ 9.99842265e-01 1.08497300e-02 -1.40615767e-02 1.77302487e+02] [-1.08526070e-02 9.99941100e-01 -1.28309472e-04 -1.17705402e+00] [ 1.40593563e-02 2.80893999e-04 9.99901123e-01 5.53663743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:177.36, Y:-1.18, Z:0.05 [[ 9.99881395e-01 6.28236806e-03 -1.40615741e-02 1.77363174e+02] [-6.28479759e-03 9.99980242e-01 -1.28594696e-04 -1.17958627e+00] [ 1.40604884e-02 2.16953591e-04 9.99901123e-01 5.38344859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:177.42, Y:-1.18, Z:0.06 [[ 9.99895918e-01 3.22892330e-03 -1.40615741e-02 1.77421157e+02] [-3.23105096e-03 9.99994772e-01 -1.28594696e-04 -1.18034804e+00] [ 1.40610853e-02 1.74014974e-04 9.99901123e-01 5.76140027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.48, Y:-1.18, Z:0.04 [[ 9.99900795e-01 -8.20787472e-04 -1.40615020e-02 1.77480874e+02] [ 8.18955487e-04 9.99999655e-01 -1.36041385e-04 -1.18101530e+00] [ 1.40616088e-02 1.24512145e-04 9.99901123e-01 3.88049188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46232058799998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:-1.19, Z:0.06 [[ 9.99889436e-01 -4.83638446e-03 -1.40614930e-02 1.77539880e+02] [ 4.83493646e-03 9.99988302e-01 -1.36969210e-04 -1.18820673e+00] [ 1.40619909e-02 6.89676413e-05 9.99901123e-01 5.56201861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:-1.19, Z:0.04 [[ 9.99852679e-01 -9.84356529e-03 -1.40614744e-02 1.77599556e+02] [ 9.84258596e-03 9.99951551e-01 -1.38850172e-04 -1.19359618e+00] [ 1.40621599e-02 4.28445402e-07 9.99901123e-01 4.42284051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:177.66, Y:-1.19, Z:0.04 [[ 9.99818884e-01 -1.28247703e-02 -1.40614650e-02 1.77658706e+02] [ 1.28240725e-02 9.99917758e-01 -1.39793729e-04 -1.19450138e+00] [ 1.40621014e-02 -4.05568367e-05 9.99901123e-01 4.19092938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:177.72, Y:-1.20, Z:0.06 [[ 9.99847818e-01 -1.03255661e-02 -1.40613961e-02 1.77717984e+02] [ 1.03245281e-02 9.99946690e-01 -1.46409088e-04 -1.19980264e+00] [ 1.40621583e-02 1.20952761e-06 9.99901123e-01 6.13625535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:177.78, Y:-1.20, Z:0.07 [[ 9.99887328e-01 -5.25430752e-03 -1.40613863e-02 1.77776122e+02] [ 5.25275484e-03 9.99986193e-01 -1.47352075e-04 -1.19641735e+00] [ 1.40619664e-02 7.34744582e-05 9.99901123e-01 6.55074918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:177.83, Y:-1.19, Z:0.06 [[ 9.99900722e-01 -9.08422408e-04 -1.40613011e-02 1.77834799e+02] [ 9.06331489e-04 9.99999577e-01 -1.55071925e-04 -1.19196929e+00] [ 1.40614361e-02 1.42312330e-04 9.99901123e-01 6.20707707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:177.89, Y:-1.20, Z:0.05 [[ 9.99899705e-01 -1.69184535e-03 -1.40612263e-02 1.77894104e+02] [ 1.68974035e-03 9.99998559e-01 -1.61581416e-04 -1.19546120e+00] [ 1.40614794e-02 1.37805389e-04 9.99901123e-01 4.73071975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:177.95, Y:-1.19, Z:0.06 [[ 9.99899313e-01 -1.90970930e-03 -1.40612103e-02 1.77952950e+02] [ 1.90760634e-03 9.99998167e-01 -1.62968510e-04 -1.18988913e+00] [ 1.40614957e-02 1.36128847e-04 9.99901123e-01 6.41079337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.01, Y:-1.19, Z:0.05 [[ 9.99891110e-01 -4.47804623e-03 -1.40611314e-02 1.78012429e+02] [ 4.47610519e-03 9.99989968e-01 -1.69511010e-04 -1.19100470e+00] [ 1.40617494e-02 1.06553449e-04 9.99901123e-01 4.92812391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:-1.20, Z:0.07 [[ 9.99854779e-01 -9.62846252e-03 -1.40610504e-02 1.78071068e+02] [ 9.62693976e-03 9.99953644e-01 -1.75979505e-04 -1.19677211e+00] [ 1.40620930e-02 4.05890639e-05 9.99901123e-01 6.68712686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:-1.21, Z:0.07 [[ 9.99728196e-01 -1.85962622e-02 -1.40610271e-02 1.78129982e+02] [ 1.85956003e-02 9.99827071e-01 -1.77827362e-04 -1.20774011e+00] [ 1.40619024e-02 -8.36942107e-05 9.99901123e-01 7.21400473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:178.19, Y:-1.21, Z:0.07 [[ 9.99657488e-01 -2.20724827e-02 -1.40610030e-02 1.78189061e+02] [ 2.20721382e-02 9.99756365e-01 -1.79706779e-04 -1.21245845e+00] [ 1.40615438e-02 -1.30711175e-04 9.99901123e-01 7.26613860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:178.25, Y:-1.23, Z:0.07 [[ 9.99597952e-01 -2.46215888e-02 -1.40609788e-02 1.78247935e+02] [ 2.46214700e-02 9.99696829e-01 -1.81579936e-04 -1.23000908e+00] [ 1.40611868e-02 -1.64695037e-04 9.99901123e-01 7.32650821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24232058799998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:178.31, Y:-1.24, Z:0.07 [[ 9.99591464e-01 -2.48836392e-02 -1.40608903e-02 1.78306827e+02] [ 2.48834534e-02 9.99690341e-01 -1.88192251e-04 -1.24126048e+00] [ 1.40612192e-02 -1.61768143e-04 9.99901123e-01 7.37399012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.302320588 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:-1.25, Z:0.08 [[ 9.99649877e-01 -2.24146687e-02 -1.40607987e-02 1.78366122e+02] [ 2.24141456e-02 9.99748753e-01 -1.94810136e-04 -1.25160688e+00] [ 1.40616325e-02 -1.20418859e-04 9.99901123e-01 7.85788004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.362320588 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:-1.27, Z:0.07 [[ 9.99752019e-01 -1.72683892e-02 -1.40607095e-02 1.78425515e+02] [ 1.72672695e-02 9.99850889e-01 -2.01044592e-04 -1.26817550e+00] [ 1.40620846e-02 -4.17953230e-05 9.99901123e-01 7.46156069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422320588 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:178.49, Y:-1.28, Z:0.07 [[ 9.99848573e-01 -1.02531876e-02 -1.40606799e-02 1.78485547e+02] [ 1.02513453e-02 9.99947433e-01 -2.03094667e-04 -1.27613746e+00] [ 1.40620231e-02 5.89230288e-05 9.99901123e-01 7.28264696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482320588 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:178.54, Y:-1.28, Z:0.08 [[ 9.99891841e-01 4.31332275e-03 -1.40606665e-02 1.78544313e+02] [-4.31661803e-03 9.99990663e-01 -2.04020997e-04 -1.28251579e+00] [ 1.40596552e-02 2.64693456e-04 9.99901123e-01 7.69329284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:-1.28, Z:0.06 [[ 9.99849672e-01 1.01455656e-02 -1.40606398e-02 1.78603586e+02] [-1.01494629e-02 9.99948472e-01 -2.05842284e-04 -1.28161406e+00] [ 1.40578269e-02 3.48519282e-04 9.99901123e-01 5.80773028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602320588 meters Centerline goodness : 0.957565 with order 1 Centerline is valid? [True, True] Translation: X:178.66, Y:-1.33, Z:0.07 [[ 9.97204518e-01 -7.33856203e-02 -1.40606119e-02 1.78663860e+02] [ 7.33899607e-02 9.97303299e-01 -2.07731023e-04 -1.32660768e+00] [ 1.40379391e-02 -8.24757441e-04 9.99901123e-01 6.77194236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662320588 meters Centerline goodness : 0.996115 with order 1 Centerline is valid? [True, True] Translation: X:178.72, Y:-1.27, Z:0.08 [[ 9.99473035e-01 2.92566446e-02 -1.40605991e-02 1.78721838e+02] [-2.92624684e-02 9.99571741e-01 -2.08593572e-04 -1.26906342e+00] [ 1.40484748e-02 6.19931487e-04 9.99901123e-01 8.41594562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722320588 meters Centerline goodness : 0.997197 with order 1 Centerline is valid? [True, True] Translation: X:178.78, Y:-1.26, Z:0.09 [[ 9.99345474e-01 3.33305309e-02 -1.40605731e-02 1.78781004e+02] [-3.33367815e-02 9.99444153e-01 -2.10333540e-04 -1.26246977e+00] [ 1.40457470e-02 6.78930123e-04 9.99901123e-01 8.62817602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782320588 meters Centerline goodness : 0.997937 with order 1 Centerline is valid? [True, True] Translation: X:178.84, Y:-1.25, Z:0.08 [[ 9.99353678e-01 3.30836695e-02 -1.40604890e-02 1.78840483e+02] [-3.30899726e-02 9.99452354e-01 -2.15811446e-04 -1.25207297e+00] [ 1.40456490e-02 6.80933158e-04 9.99901123e-01 8.42814565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.90, Y:-1.25, Z:0.06 [[ 9.99553972e-01 2.63469116e-02 -1.40604760e-02 1.78900801e+02] [-2.63525613e-02 9.99652687e-01 -2.16657371e-04 -1.24722197e+00] [ 1.40498843e-02 5.87090290e-04 9.99901123e-01 6.32054663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:178.96, Y:-1.24, Z:0.08 [[ 9.99388696e-01 3.20084043e-02 -1.40604671e-02 1.78959650e+02] [-3.20146212e-02 9.99487377e-01 -2.17231902e-04 -1.23960124e+00] [ 1.40463061e-02 6.67239634e-04 9.99901123e-01 8.09777903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.02, Y:-1.23, Z:0.07 [[ 9.99471012e-01 2.93257827e-02 -1.40603730e-02 1.79018830e+02] [-2.93318178e-02 9.99569705e-01 -2.23157258e-04 -1.23214629e+00] [ 1.40477787e-02 6.35455511e-04 9.99901123e-01 6.63405181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:179.08, Y:-1.22, Z:0.07 [[ 9.99505592e-01 2.81226048e-02 -1.40602777e-02 1.79077294e+02] [-2.81286034e-02 9.99604286e-01 -2.29013021e-04 -1.21883487e+00] [ 1.40482734e-02 6.24395769e-04 9.99901123e-01 6.64179853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.13, Y:-1.21, Z:0.07 [[ 9.99643184e-01 2.27115760e-02 -1.40601872e-02 1.79134896e+02] [-2.27171163e-02 9.99741906e-01 -2.34439202e-04 -1.21382125e+00] [ 1.40512338e-02 5.53762458e-04 9.99901123e-01 6.96481998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142320588 meters Centerline goodness : 0.991331 with order 1 Centerline is valid? [True, True] Translation: X:179.19, Y:-1.22, Z:0.08 [[ 9.99134510e-01 -3.91477456e-02 -1.40600685e-02 1.79194339e+02] [ 3.91482233e-02 9.99233385e-01 -2.41352820e-04 -1.22234500e+00] [ 1.40587383e-02 -3.09282770e-04 9.99901123e-01 7.81224964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.202320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:179.25, Y:-1.18, Z:0.09 [[ 9.99651086e-01 2.23611341e-02 -1.40600540e-02 1.79253536e+02] [-2.23667488e-02 9.99749804e-01 -2.42196328e-04 -1.18350151e+00] [ 1.40511204e-02 5.56589518e-04 9.99901123e-01 8.70037676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.31, Y:-1.18, Z:0.07 [[ 9.99811123e-01 1.34176728e-02 -1.40600390e-02 1.79311165e+02] [-1.34224164e-02 9.99909886e-01 -2.43064317e-04 -1.17620709e+00] [ 1.40555106e-02 4.31738105e-04 9.99901123e-01 7.24521805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.37, Y:-1.17, Z:0.07 [[ 9.99890048e-01 4.71260143e-03 -1.40599932e-02 1.79369521e+02] [-4.71652174e-03 9.99988847e-01 -2.45681003e-04 -1.16627072e+00] [ 1.40586786e-02 3.11968254e-04 9.99901123e-01 7.11770032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382320588 meters Centerline goodness : 0.939221 with order 3 Centerline is valid? [True, False] Translation: X:179.43, Y:-1.18, Z:0.07 [[ 9.99299702e-01 -9.39046837e-03 -3.62205142e-02 1.79428854e+02] [ 9.99571297e-03 9.99812821e-01 1.65652620e-02 -1.17740334e+00] [ 3.60581789e-02 -1.69157113e-02 9.99206518e-01 7.34568829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442320588 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [False, True] Translation: X:179.47, Y:-1.18, Z:0.07 [[ 9.98860094e-01 -1.34157637e-02 -4.58097198e-02 1.79472922e+02] [ 1.45521262e-02 9.99592354e-01 2.45634185e-02 -1.17898317e+00] [ 4.54615087e-02 -2.52020473e-02 9.98648140e-01 7.26589903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502320588 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:179.53, Y:-1.15, Z:0.07 [[ 9.98831153e-01 -1.74135086e-02 -4.50898759e-02 1.79532769e+02] [ 1.73733609e-02 9.99848250e-01 -1.28215057e-03 -1.14666256e+00] [ 4.51053602e-02 4.97289243e-04 9.98982112e-01 6.92473505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.59, Y:-1.15, Z:0.05 [[ 9.98783512e-01 -1.99599265e-02 -4.50898759e-02 1.79593279e+02] [ 1.99223720e-02 9.99800708e-01 -1.28215057e-03 -1.14637397e+00] [ 4.51064815e-02 3.82293568e-04 9.98982112e-01 4.95243939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.65, Y:-1.14, Z:0.05 [[ 9.98771231e-01 -2.05654744e-02 -4.50897912e-02 1.79651909e+02] [ 2.05284023e-02 9.99788444e-01 -1.28512386e-03 -1.13678253e+00] [ 4.51066813e-02 3.57923363e-04 9.98982112e-01 5.41476990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.71, Y:-1.13, Z:0.05 [[ 9.98777118e-01 -2.02788990e-02 -4.50891883e-02 1.79710716e+02] [ 2.02405955e-02 9.99794285e-01 -1.30593753e-03 -1.12988993e+00] [ 4.51063958e-02 3.91708501e-04 9.98982112e-01 5.30286090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.77, Y:-1.12, Z:0.06 [[ 9.98674954e-01 -2.48063851e-02 -4.50885733e-02 1.79768182e+02] [ 2.47717494e-02 9.99692253e-01 -1.32683873e-03 -1.12283304e+00] [ 4.51076115e-02 2.08157763e-04 9.98982112e-01 5.77951086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.802320588 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:179.83, Y:-1.12, Z:0.08 [[ 9.98583772e-01 -2.82406723e-02 -4.50878544e-02 1.79826133e+02] [ 2.82084520e-02 9.99601150e-01 -1.35083224e-03 -1.12071830e+00] [ 4.51080196e-02 7.70605756e-05 9.98982112e-01 7.88202876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862320588 meters Centerline goodness : 0.934268 with order 3 Centerline is valid? [True, False] Translation: X:179.81, Y:-1.12, Z:0.08 [[ 9.99390938e-01 -1.54306205e-02 -3.12993550e-02 1.79813826e+02] [ 1.53949587e-02 9.99880538e-01 -1.38005705e-03 -1.12001373e+00] [ 3.13169111e-02 8.97364234e-04 9.99509102e-01 7.75855838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:179.80, Y:-1.12, Z:0.08 [[ 9.99801418e-01 -9.50887820e-04 -1.99052867e-02 1.79804957e+02] [ 9.02279233e-04 9.99996590e-01 -2.45083236e-03 -1.11807275e+00] [ 1.99075492e-02 2.43238554e-03 9.99798866e-01 7.59007581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.982320588 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:179.86, Y:-1.12, Z:0.09 [[ 9.99801063e-01 1.03186330e-03 -1.99190586e-02 1.79862998e+02] [-1.03440072e-03 9.99999458e-01 -1.17083741e-04 -1.11743048e+00] [ 1.99189270e-02 1.37664737e-04 9.99801589e-01 9.30983796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:-1.12, Z:0.08 [[ 9.99801112e-01 9.85348794e-04 -1.99189904e-02 1.79921598e+02] [-9.88089057e-04 9.99999504e-01 -1.27728992e-04 -1.11682375e+00] [ 1.99188546e-02 1.47385324e-04 9.99801589e-01 7.98263496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102320588 meters Centerline goodness : 0.977458 with order 2 Centerline is valid? [True, True] Translation: X:179.94, Y:-1.15, Z:0.08 [[ 9.97097954e-01 -7.34772371e-02 -1.99189684e-02 1.79943272e+02] [ 7.34892134e-02 9.97296003e-01 -1.31060428e-04 -1.15210421e+00] [ 1.98747376e-02 -1.33314924e-03 9.99801589e-01 8.22859310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:180.04, Y:-1.11, Z:0.08 [[ 9.99498040e-01 2.46390833e-02 -1.99143888e-02 1.80035410e+02] [-2.47032465e-02 9.99690380e-01 -2.98236127e-03 -1.10670463e+00] [ 1.98347402e-02 3.47281430e-03 9.99797241e-01 8.05084544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.09, Y:-1.10, Z:0.09 [[ 9.99337011e-01 3.04895874e-02 -1.98978278e-02 1.80094566e+02] [-3.04934910e-02 9.99534960e-01 1.07267796e-04 -1.10285251e+00] [ 1.98918450e-02 4.99557553e-04 9.99802013e-01 8.59780127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:180.15, Y:-1.10, Z:0.09 [[ 9.99109775e-01 3.71985535e-02 -1.98978720e-02 1.80152659e+02] [-3.72039641e-02 9.99307688e-01 9.83191603e-05 -1.09588890e+00] [ 1.98877538e-02 6.42048080e-04 9.99802013e-01 8.68535086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342320588 meters Centerline goodness : 0.998670 with order 1 Centerline is valid? [True, True] Translation: X:180.21, Y:-1.08, Z:0.11 [[ 9.98788294e-01 4.50112990e-02 -1.98979168e-02 1.80212187e+02] [-4.50184582e-02 9.98986151e-01 8.82148937e-05 -1.08490326e+00] [ 1.98817140e-02 8.07665532e-04 9.99802013e-01 1.08819044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402320588 meters Centerline goodness : 0.996198 with order 1 Centerline is valid? [True, True] Translation: X:180.27, Y:-1.07, Z:0.11 [[ 9.98472780e-01 5.15381482e-02 -1.98979195e-02 1.80271627e+02] [-5.15466127e-02 9.98670586e-01 8.75956442e-05 -1.07193832e+00] [ 1.98759814e-02 9.38208484e-04 9.99802013e-01 1.14196493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.33, Y:-1.06, Z:0.09 [[ 9.98412542e-01 5.26922044e-02 -1.98979248e-02 1.80332855e+02] [-5.27009219e-02 9.98610337e-01 8.63691349e-05 -1.05799337e+00] [ 1.98748244e-02 9.62406955e-04 9.99802013e-01 9.19259591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:180.39, Y:-1.05, Z:0.10 [[ 9.98402096e-01 5.28897745e-02 -1.98979252e-02 1.80392190e+02] [-5.28985328e-02 9.98599889e-01 8.62856949e-05 -1.04630427e+00] [ 1.98746295e-02 9.66423230e-04 9.99802013e-01 9.58919344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.582320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:180.45, Y:-1.03, Z:0.09 [[ 9.98435827e-01 5.22491309e-02 -1.98979564e-02 1.80451475e+02] [-5.22579196e-02 9.98633618e-01 7.83725203e-05 -1.02866012e+00] [ 1.98748631e-02 9.61575872e-04 9.99802013e-01 9.49415341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642320588 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:180.51, Y:-1.02, Z:0.11 [[ 9.98607772e-01 4.88527097e-02 -1.98979862e-02 1.80510545e+02] [-4.88609945e-02 9.98805586e-01 6.98821556e-05 -1.01821148e+00] [ 1.98776337e-02 9.02450529e-04 9.99802013e-01 1.14335713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.57, Y:-1.01, Z:0.10 [[ 9.98891735e-01 4.26540742e-02 -1.98980108e-02 1.80569943e+02] [-4.26612887e-02 9.99089591e-01 6.19606277e-05 -1.01047773e+00] [ 1.98825384e-02 7.86982826e-04 9.99802013e-01 9.95982663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.63, Y:-1.00, Z:0.10 [[ 9.99218820e-01 3.41440992e-02 -1.98980164e-02 1.80628394e+02] [-3.41496648e-02 9.99416728e-01 6.01148965e-05 -9.98233744e-01] [ 1.98884630e-02 6.19442655e-04 9.99802013e-01 9.97142952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.69, Y:-1.00, Z:0.10 [[ 9.99460537e-01 2.61285690e-02 -1.98980392e-02 1.80686992e+02] [-2.61327230e-02 9.99658481e-01 5.12710976e-05 -9.99035937e-01] [ 1.98925833e-02 4.68746508e-04 9.99802013e-01 9.90463156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:180.75, Y:-1.00, Z:0.10 [[ 9.99525432e-01 2.35155045e-02 -1.98980584e-02 1.80745408e+02] [-2.35193211e-02 9.99723382e-01 4.22223758e-05 -9.98521958e-01] [ 1.98935471e-02 4.25786486e-04 9.99802013e-01 1.00309203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:180.80, Y:-0.99, Z:0.12 [[ 9.99553727e-01 2.22803301e-02 -1.98980737e-02 1.80804080e+02] [-2.22840855e-02 9.99751678e-01 3.30021660e-05 -9.88240424e-01] [ 1.98938679e-02 4.10422939e-04 9.99802013e-01 1.22305319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.86, Y:-0.98, Z:0.12 [[ 9.99516152e-01 2.39066736e-02 -1.98980842e-02 1.80863774e+02] [-2.39109221e-02 9.99714093e-01 2.44091851e-05 -9.78783710e-01] [ 1.98929788e-02 4.51384168e-04 9.99802013e-01 1.17630313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:180.92, Y:-0.97, Z:0.13 [[ 9.99443529e-01 2.67712430e-02 -1.98980858e-02 1.80922747e+02] [-2.67760850e-02 9.99641456e-01 2.30871441e-05 -9.68665423e-01] [ 1.98915695e-02 5.09718540e-04 9.99802013e-01 1.26327320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.98, Y:-0.96, Z:0.12 [[ 9.99468470e-01 2.58233163e-02 -1.98980920e-02 1.80982040e+02] [-2.58281366e-02 9.99666398e-01 1.47419013e-05 -9.57479096e-01] [ 1.98918346e-02 4.99196573e-04 9.99802013e-01 1.19944753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:181.04, Y:-0.94, Z:0.12 [[ 9.99556685e-01 2.21472253e-02 -1.98980932e-02 1.81041277e+02] [-2.21513565e-02 9.99754629e-01 1.27916426e-05 -9.44810765e-01] [ 1.98934941e-02 4.27983785e-04 9.99802013e-01 1.24134107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24232058799998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:181.10, Y:-0.94, Z:0.12 [[ 9.99683786e-01 1.53750728e-02 -1.98980950e-02 1.81099661e+02] [-1.53780340e-02 9.99881751e-01 4.19210204e-06 -9.38750492e-01] [ 1.98958066e-02 3.01802806e-04 9.99802013e-01 1.22708994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.16, Y:-0.93, Z:0.11 [[ 9.99787082e-01 5.46407610e-03 -1.98980915e-02 1.81159154e+02] [-5.46528887e-03 9.99985065e-01 -6.56921780e-06 -9.31820892e-01] [ 1.98977584e-02 1.15316637e-04 9.99802013e-01 1.10293767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.22, Y:-0.93, Z:0.11 [[ 9.99799468e-01 -2.25597412e-03 -1.98980837e-02 1.81216741e+02] [ 2.25609947e-03 9.99997455e-01 -1.61487027e-05 -9.28091603e-01] [ 1.98980695e-02 -2.87465918e-05 9.99802013e-01 1.14031885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.27, Y:-0.93, Z:0.11 [[ 9.99773461e-01 -7.55604401e-03 -1.98980693e-02 1.81274635e+02] [ 7.55700664e-03 9.99971445e-01 -2.68149545e-05 -9.28292486e-01] [ 1.98977038e-02 -1.23560962e-04 9.99802013e-01 1.11981134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:-0.93, Z:0.12 [[ 9.99738453e-01 -1.12736063e-02 -1.98980496e-02 1.81333797e+02] [ 1.12750960e-02 9.99936433e-01 -3.73199021e-05 -9.29657762e-01] [ 1.98972055e-02 -1.87042279e-04 9.99802014e-01 1.15067106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.39, Y:-0.93, Z:0.12 [[ 9.99719550e-01 -1.28409802e-02 -1.98980285e-02 1.81392441e+02] [ 1.28426000e-02 9.99917529e-01 -4.63834818e-05 -9.33081835e-01] [ 1.98969831e-02 -2.09171947e-04 9.99802014e-01 1.16676539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.45, Y:-0.94, Z:0.13 [[ 9.99731170e-01 -1.19020056e-02 -1.98980034e-02 1.81450582e+02] [ 1.19032601e-02 9.99929152e-01 -5.53911746e-05 -9.35342302e-01] [ 1.98972530e-02 -1.81474827e-04 9.99802014e-01 1.28149162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.51, Y:-0.94, Z:0.12 [[ 9.99704682e-01 -1.39505795e-02 -1.98979888e-02 1.81509586e+02] [ 1.39521435e-02 9.99902662e-01 -6.02273289e-05 -9.37913702e-01] [ 1.98968922e-02 -2.17410052e-04 9.99802014e-01 1.20451685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:-0.95, Z:0.12 [[ 9.99707714e-01 -1.37316227e-02 -1.98979806e-02 1.81568370e+02] [ 1.37330917e-02 9.99905695e-01 -6.28209824e-05 -9.46221263e-01] [ 1.98969668e-02 -2.10458172e-04 9.99802014e-01 1.18626982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.63, Y:-0.95, Z:0.12 [[ 9.99698183e-01 -1.44088509e-02 -1.98979480e-02 1.81627151e+02] [ 1.44102743e-02 9.99896164e-01 -7.18546511e-05 -9.51764421e-01] [ 1.98969172e-02 -2.14901923e-04 9.99802014e-01 1.21632197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.69, Y:-0.96, Z:0.12 [[ 9.99709754e-01 -1.35823836e-02 -1.98979112e-02 1.81686048e+02] [ 1.35834632e-02 9.99907737e-01 -8.09070189e-05 -9.56475563e-01] [ 1.98971742e-02 -1.89399007e-04 9.99802014e-01 1.23463157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.74, Y:-0.97, Z:0.12 [[ 9.99727232e-01 -1.22285470e-02 -1.98978699e-02 1.81744895e+02] [ 1.22291767e-02 9.99925217e-01 -9.00348288e-05 -9.66474155e-01] [ 1.98974828e-02 -1.53324297e-04 9.99802014e-01 1.22950365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.80, Y:-0.97, Z:0.12 [[ 9.99715644e-01 -1.31418140e-02 -1.98978244e-02 1.81802833e+02] [ 1.31424430e-02 9.99913629e-01 -9.91626178e-05 -9.69053450e-01] [ 1.98974090e-02 -1.62371602e-04 9.99802014e-01 1.23467270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.86, Y:-0.98, Z:0.13 [[ 9.99702083e-01 -1.41359254e-02 -1.98977670e-02 1.81861811e+02] [ 1.41365438e-02 9.99900068e-01 -1.09583821e-04 -9.79877222e-01] [ 1.98973276e-02 -1.71734481e-04 9.99802014e-01 1.27279653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:-0.98, Z:0.13 [[ 9.99698856e-01 -1.43623942e-02 -1.98977126e-02 1.81920569e+02] [ 1.43628760e-02 9.99896842e-01 -1.18700243e-04 -9.84414846e-01] [ 1.98973648e-02 -1.67123882e-04 9.99802014e-01 1.27593310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.98, Y:-0.99, Z:0.13 [[ 9.99680658e-01 -1.55777370e-02 -1.98976539e-02 1.81979590e+02] [ 1.55782776e-02 9.99878643e-01 -1.27839483e-04 -9.91363390e-01] [ 1.98972306e-02 -1.82172517e-04 9.99802014e-01 1.27465311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:182.04, Y:-0.99, Z:0.15 [[ 9.99671949e-01 -1.61269787e-02 -1.98975905e-02 1.82038374e+02] [ 1.61274449e-02 9.99869935e-01 -1.37047924e-04 -9.92366216e-01] [ 1.98972127e-02 -1.83894328e-04 9.99802014e-01 1.50185517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.10, Y:-1.00, Z:0.13 [[ 9.99699067e-01 -1.43479932e-02 -1.98975230e-02 1.82098038e+02] [ 1.43479242e-02 9.99897053e-01 -1.46233141e-04 -9.99030096e-01] [ 1.98975727e-02 -1.39299016e-04 9.99802014e-01 1.30408292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:182.16, Y:-1.00, Z:0.15 [[ 9.99710909e-01 -1.34977518e-02 -1.98974513e-02 1.82156066e+02] [ 1.34973318e-02 9.99908895e-01 -1.55410495e-04 -9.98616796e-01] [ 1.98977362e-02 -1.13196935e-04 9.99802014e-01 1.49591097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.21, Y:-1.00, Z:0.13 [[ 9.99691662e-01 -1.48551630e-02 -1.98973640e-02 1.82214221e+02] [ 1.48548033e-02 9.99889648e-01 -1.65883860e-04 -9.99863224e-01] [ 1.98976325e-02 -1.29738717e-04 9.99802014e-01 1.32693194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.27, Y:-1.00, Z:0.13 [[ 9.99662248e-01 -1.67178851e-02 -1.98972693e-02 1.82272585e+02] [ 1.67176820e-02 9.99860234e-01 -1.76557030e-04 -9.98289339e-01] [ 1.98974400e-02 -1.56138822e-04 9.99802014e-01 1.32194796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:182.33, Y:-1.01, Z:0.15 [[ 9.99597190e-01 -2.02375081e-02 -1.98972396e-02 1.82331399e+02] [ 2.02379368e-02 9.99795176e-01 -1.79834585e-04 -1.00954409e+00] [ 1.98968036e-02 -2.22916933e-04 9.99802014e-01 1.47999345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:182.39, Y:-1.01, Z:0.15 [[ 9.99591384e-01 -2.05223830e-02 -1.98971520e-02 1.82390320e+02] [ 2.05226845e-02 9.99789370e-01 -1.89058223e-04 -1.01236161e+00] [ 1.98968410e-02 -2.19362002e-04 9.99802014e-01 1.50681344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.45, Y:-1.01, Z:0.14 [[ 9.99670820e-01 -1.61974793e-02 -1.98970601e-02 1.82449647e+02] [ 1.61967408e-02 9.99868805e-01 -1.98277963e-04 -1.01361835e+00] [ 1.98976613e-02 -1.24054831e-04 9.99802014e-01 1.35233335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.51, Y:-1.02, Z:0.13 [[ 9.99678175e-01 -1.57371084e-02 -1.98969642e-02 1.82508757e+02] [ 1.57360956e-02 9.99876158e-01 -2.07474409e-04 -1.01902939e+00] [ 1.98977652e-02 -1.05692893e-04 9.99802014e-01 1.34030302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.57, Y:-1.02, Z:0.14 [[ 9.99621044e-01 -1.90232531e-02 -1.98968629e-02 1.82567111e+02] [ 1.90227061e-02 9.99819028e-01 -2.16776463e-04 -1.02110321e+00] [ 1.98973859e-02 -1.61797860e-04 9.99802014e-01 1.36706258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.63, Y:-1.02, Z:0.14 [[ 9.99578468e-01 -2.11424701e-02 -1.98968078e-02 1.82625798e+02] [ 2.11422444e-02 9.99776453e-01 -2.21718563e-04 -1.02166161e+00] [ 1.98970476e-02 -1.99038072e-04 9.99802014e-01 1.37068366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.862320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:182.68, Y:-1.03, Z:0.15 [[ 9.99514983e-01 -2.39566198e-02 -1.98967008e-02 1.82683811e+02] [ 2.39567680e-02 9.99712969e-01 -2.30941992e-04 -1.03040970e+00] [ 1.98965224e-02 -2.45830662e-04 9.99802014e-01 1.53536075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.74, Y:-1.04, Z:0.14 [[ 9.99393732e-01 -2.85708197e-02 -1.98966623e-02 1.82743223e+02] [ 2.85718168e-02 9.99591715e-01 -2.34211225e-04 -1.03780191e+00] [ 1.98952304e-02 -3.34414560e-04 9.99802014e-01 1.42142018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.80, Y:-1.05, Z:0.14 [[ 9.99338585e-01 -3.04387989e-02 -1.98965490e-02 1.82801757e+02] [ 3.04399819e-02 9.99536567e-01 -2.43465919e-04 -1.04740660e+00] [ 1.98947391e-02 -3.62345705e-04 9.99802014e-01 1.39926720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.86, Y:-1.06, Z:0.15 [[ 9.99399377e-01 -2.83728379e-02 -1.98964165e-02 1.82859379e+02] [ 2.83734048e-02 9.99597362e-01 -2.53855690e-04 -1.05651474e+00] [ 1.98956080e-02 -3.10825860e-04 9.99802014e-01 1.45333026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102320588 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:182.92, Y:-1.06, Z:0.17 [[ 9.99553544e-01 -2.22901605e-02 -1.98962789e-02 1.82917854e+02] [ 2.22893163e-02 9.99751527e-01 -2.64214845e-04 -1.05842796e+00] [ 1.98972246e-02 -1.79377569e-04 9.99802015e-01 1.66383587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.98, Y:-1.06, Z:0.15 [[ 9.99567000e-01 -2.16784501e-02 -1.98961525e-02 1.82977350e+02] [ 2.16773017e-02 9.99764982e-01 -2.73414751e-04 -1.06265510e+00] [ 1.98974037e-02 -1.57998536e-04 9.99802015e-01 1.45294975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:183.04, Y:-1.07, Z:0.15 [[ 9.99536584e-01 -2.30383330e-02 -1.98960219e-02 1.83035747e+02] [ 2.30372709e-02 9.99734567e-01 -2.82606929e-04 -1.06549475e+00] [ 1.98972516e-02 -1.75874083e-04 9.99802015e-01 1.48256970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282320588 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:-1.07, Z:0.15 [[ 9.99528131e-01 -2.34023397e-02 -1.98958842e-02 1.83094508e+02] [ 2.34011630e-02 9.99726113e-01 -2.91992215e-04 -1.06839502e+00] [ 1.98972682e-02 -1.73732395e-04 9.99802015e-01 1.51715211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342320588 meters Centerline goodness : 0.997881 with order 1 Centerline is valid? [True, True] Translation: X:183.15, Y:-1.07, Z:0.17 [[ 9.99515566e-01 -2.39331072e-02 -1.98957408e-02 1.83152396e+02] [ 2.39318472e-02 9.99713547e-01 -3.01454519e-04 -1.07358516e+00] [ 1.98972564e-02 -1.74833346e-04 9.99802015e-01 1.65322132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402320588 meters Centerline goodness : 0.997488 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:-1.07, Z:0.17 [[ 9.99556359e-01 -2.21641706e-02 -1.98955714e-02 1.83211544e+02] [ 2.21623454e-02 9.99754336e-01 -3.12247433e-04 -1.07477629e+00] [ 1.98976045e-02 -1.28823619e-04 9.99802015e-01 1.65060519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46232058799998 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:183.27, Y:-1.08, Z:0.15 [[ 9.99641209e-01 -1.79338914e-02 -1.98954259e-02 1.83270455e+02] [ 1.79310491e-02 9.99839174e-01 -3.21257638e-04 -1.07605006e+00] [ 1.98979876e-02 -3.56034845e-05 9.99802015e-01 1.54146764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52232058799999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:183.33, Y:-1.07, Z:0.15 [[ 9.99744557e-01 -1.07237325e-02 -1.98952717e-02 1.83328665e+02] [ 1.07192778e-02 9.99942492e-01 -3.30539187e-04 -1.07301436e+00] [ 1.98976722e-02 1.17191808e-04 9.99802015e-01 1.53691513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582320588 meters Centerline goodness : 0.995419 with order 1 Centerline is valid? [True, True] Translation: X:183.39, Y:-1.07, Z:0.17 [[ 9.99800521e-01 -1.76157115e-03 -1.98950852e-02 1.83387244e+02] [ 1.75512604e-03 9.99998401e-01 -3.41411159e-04 -1.06648368e+00] [ 1.98956548e-02 3.06424673e-04 9.99802015e-01 1.74486190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642320588 meters Centerline goodness : 0.995562 with order 1 Centerline is valid? [True, True] Translation: X:183.45, Y:-1.06, Z:0.17 [[ 9.99801943e-01 5.16303991e-04 -1.98949214e-02 1.83446203e+02] [-5.23384704e-04 9.99999802e-01 -3.50700362e-04 -1.06095403e+00] [ 1.98947364e-02 3.61043601e-04 9.99802015e-01 1.73535369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702320588 meters Centerline goodness : 0.995620 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:-1.06, Z:0.17 [[ 9.99799809e-01 -2.13067333e-03 -1.98947556e-02 1.83505450e+02] [ 2.12393415e-03 9.99997680e-01 -3.59865034e-04 -1.05732512e+00] [ 1.98954762e-02 3.17537842e-04 9.99802015e-01 1.74253251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762320588 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:-1.05, Z:0.16 [[ 9.99798192e-01 -2.78942649e-03 -1.98945851e-02 1.83565102e+02] [ 2.78263476e-03 9.99996060e-01 -3.69060380e-04 -1.04804991e+00] [ 1.98955361e-02 3.13626537e-04 9.99802015e-01 1.62532819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822320588 meters Centerline goodness : 0.994923 with order 1 Centerline is valid? [True, True] Translation: X:183.62, Y:-1.04, Z:0.18 [[ 9.99779951e-01 -6.65245994e-03 -1.98945605e-02 1.83623527e+02] [ 6.64640656e-03 9.99977844e-01 -3.70378841e-04 -1.04416102e+00] [ 1.98965837e-02 2.38070003e-04 9.99802015e-01 1.78982988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882320588 meters Centerline goodness : 0.994928 with order 1 Centerline is valid? [True, True] Translation: X:183.68, Y:-1.04, Z:0.18 [[ 9.99735003e-01 -1.15815272e-02 -1.98945111e-02 1.83681943e+02] [ 1.15763971e-02 9.99932922e-01 -3.73015468e-04 -1.03823790e+00] [ 1.98974967e-02 1.42609860e-04 9.99802015e-01 1.81934281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942320588 meters Centerline goodness : 0.993656 with order 1 Centerline is valid? [True, True] Translation: X:183.74, Y:-1.03, Z:0.19 [[ 9.99606050e-01 -1.97979684e-02 -1.98943316e-02 1.83740669e+02] [ 1.97942792e-02 9.99804001e-01 -3.82355918e-04 -1.03004456e+00] [ 1.98980022e-02 -1.15886654e-05 9.99802015e-01 1.88805363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002320588 meters Centerline goodness : 0.998422 with order 1 Centerline is valid? [True, True] Translation: X:183.80, Y:-1.03, Z:0.17 [[ 9.99427071e-01 -2.73816074e-02 -1.98941425e-02 1.83800978e+02] [ 2.73792293e-02 9.99625042e-01 -3.91950376e-04 -1.03171694e+00] [ 1.98974153e-02 -1.52960473e-04 9.99802015e-01 1.66050166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062320588 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:183.86, Y:-1.03, Z:0.17 [[ 9.99203668e-01 -3.45868778e-02 -1.98941425e-02 1.83859241e+02] [ 3.45859271e-02 9.99401651e-01 -3.91950376e-04 -1.03239015e+00] [ 1.98957952e-02 -2.96419110e-04 9.99802015e-01 1.68164560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122320588 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:-1.03, Z:0.17 [[ 9.99131642e-01 -3.66086613e-02 -1.98939274e-02 1.83918631e+02] [ 3.66078996e-02 9.99329625e-01 -4.02582228e-04 -1.03400442e+00] [ 1.98953290e-02 -3.26042254e-04 9.99802015e-01 1.66489409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182320588 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:183.98, Y:-1.04, Z:0.17 [[ 9.99197655e-01 -3.47603943e-02 -1.98937378e-02 1.83977212e+02] [ 3.47590840e-02 9.99395636e-01 -4.11742626e-04 -1.03894969e+00] [ 1.98960271e-02 -2.80075837e-04 9.99802015e-01 1.66302845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24232058799998 meters Centerline goodness : 0.998377 with order 1 Centerline is valid? [True, True] Translation: X:184.04, Y:-1.04, Z:0.17 [[ 9.99301878e-01 -3.16228434e-02 -1.98935425e-02 1.84035587e+02] [ 3.16207278e-02 9.99499851e-01 -4.20972498e-04 -1.03921053e+00] [ 1.98969051e-02 -2.08369684e-04 9.99802015e-01 1.68087989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.302320588 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:-1.04, Z:0.17 [[ 9.99437002e-01 -2.70172916e-02 -1.98933423e-02 1.84094147e+02] [ 2.70140794e-02 9.99634961e-01 -4.30229584e-04 -1.04202021e+00] [ 1.98977041e-02 -1.07412961e-04 9.99802015e-01 1.68823523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362320588 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:184.15, Y:-1.04, Z:0.17 [[ 9.99569194e-01 -2.15798553e-02 -1.98931361e-02 1.84153252e+02] [ 2.15753805e-02 9.99767128e-01 -4.39561569e-04 -1.03958547e+00] [ 1.98979892e-02 1.01702221e-05 9.99802015e-01 1.70242429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422320588 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:184.21, Y:-1.03, Z:0.17 [[ 9.99665848e-01 -1.65064951e-02 -1.98929220e-02 1.84211784e+02] [ 1.65008271e-02 9.99863751e-01 -4.49047145e-04 -1.03275961e+00] [ 1.98976238e-02 1.20647430e-04 9.99802015e-01 1.70357652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.482320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:184.27, Y:-1.03, Z:0.18 [[ 9.99702583e-01 -1.41076906e-02 -1.98927017e-02 1.84270519e+02] [ 1.41013575e-02 9.99900466e-01 -4.58603087e-04 -1.03291401e+00] [ 1.98971915e-02 1.77952593e-04 9.99802015e-01 1.75149139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542320588 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:184.33, Y:-1.03, Z:0.18 [[ 9.99683073e-01 -1.54286202e-02 -1.98924822e-02 1.84328296e+02] [ 1.54223630e-02 9.99880959e-01 -4.67930819e-04 -1.03030080e+00] [ 1.98973337e-02 1.60993436e-04 9.99802015e-01 1.75975883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.39, Y:-1.02, Z:0.18 [[ 9.99690569e-01 -1.49353730e-02 -1.98922245e-02 1.84386883e+02] [ 1.49288050e-02 9.99888445e-01 -4.78643756e-04 -1.02191398e+00] [ 1.98971541e-02 1.81528510e-04 9.99802016e-01 1.75612938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:184.45, Y:-1.02, Z:0.18 [[ 9.99655658e-01 -1.71135438e-02 -1.98919942e-02 1.84446140e+02] [ 1.71072202e-02 9.99853542e-01 -4.88031202e-04 -1.02349289e+00] [ 1.98974328e-02 1.47566429e-04 9.99802016e-01 1.76292204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:184.50, Y:-1.02, Z:0.19 [[ 9.99611972e-01 -1.94993215e-02 -1.98917612e-02 1.84504568e+02] [ 1.94932848e-02 9.99809864e-01 -4.97346582e-04 -1.02496318e+00] [ 1.98976770e-02 1.09397831e-04 9.99802016e-01 1.94391759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:184.56, Y:-1.03, Z:0.20 [[ 9.99502091e-01 -2.44927895e-02 -1.98915215e-02 1.84563742e+02] [ 2.44875542e-02 9.99700006e-01 -5.06758037e-04 -1.02663875e+00] [ 1.98979661e-02 1.94110066e-05 9.99802016e-01 1.96028700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.62, Y:-1.03, Z:0.18 [[ 9.99396670e-01 -2.84716251e-02 -1.98912768e-02 1.84623490e+02] [ 2.84669901e-02 9.99594600e-01 -5.16185666e-04 -1.03092521e+00] [ 1.98979096e-02 -5.03705451e-05 9.99802016e-01 1.78261789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.68, Y:-1.04, Z:0.18 [[ 9.99401380e-01 -2.83059991e-02 -1.98910210e-02 1.84682126e+02] [ 2.83011387e-02 9.99599304e-01 -5.25863431e-04 -1.04129585e+00] [ 1.98979358e-02 -3.73899054e-05 9.99802016e-01 1.78746660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:-1.05, Z:0.18 [[ 9.99407092e-01 -2.81036582e-02 -1.98909304e-02 1.84741146e+02] [ 2.80986899e-02 9.99605014e-01 -5.29268478e-04 -1.04757349e+00] [ 1.98979481e-02 -2.99544151e-05 9.99802016e-01 1.79678097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02232058799999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:184.80, Y:-1.05, Z:0.20 [[ 9.99438111e-01 -2.69782016e-02 -1.98906726e-02 1.84800251e+02] [ 2.69728210e-02 9.99636022e-01 -5.38786132e-04 -1.05086942e+00] [ 1.98979683e-02 1.97584263e-06 9.99802016e-01 1.96174372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:-1.06, Z:0.18 [[ 9.99481895e-01 -2.53043817e-02 -1.98904264e-02 1.84859184e+02] [ 2.52984918e-02 9.99679792e-01 -5.47726396e-04 -1.05638521e+00] [ 1.98979172e-02 4.42448274e-05 9.99802016e-01 1.84755401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:-1.06, Z:0.18 [[ 9.99494859e-01 -2.47872692e-02 -1.98901569e-02 1.84918236e+02] [ 2.47810855e-02 9.99692746e-01 -5.57344240e-04 -1.06477875e+00] [ 1.98978606e-02 6.41630243e-05 9.99802016e-01 1.83041234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.202320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:-1.07, Z:0.20 [[ 9.99635457e-01 -1.82577468e-02 -1.98898866e-02 1.84976665e+02] [ 1.82500819e-02 9.99833293e-01 -5.66828368e-04 -1.06843274e+00] [ 1.98969198e-02 2.03629676e-04 9.99802016e-01 2.04877097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:-1.07, Z:0.19 [[ 9.99677985e-01 -1.57582238e-02 -1.98898102e-02 1.85036920e+02] [ 1.57500112e-02 9.99875799e-01 -5.69498156e-04 -1.06883945e+00] [ 1.98963141e-02 2.56050037e-04 9.99802016e-01 1.89248184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.10, Y:-1.07, Z:0.19 [[ 9.99725604e-01 -1.23739483e-02 -1.98897718e-02 1.85096013e+02] [ 1.23650394e-02 9.99923387e-01 -5.70833195e-04 -1.06838501e+00] [ 1.98953115e-02 3.24738747e-04 9.99802016e-01 1.90951135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:-1.06, Z:0.19 [[ 9.99766622e-01 -8.43261047e-03 -1.98895003e-02 1.85155132e+02] [ 8.42273684e-03 9.99964360e-01 -5.80143584e-04 -1.06193398e+00] [ 1.98936835e-02 4.12484165e-04 9.99802016e-01 1.88323324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:-1.05, Z:0.19 [[ 9.99785209e-01 -5.82697417e-03 -1.98892329e-02 1.85212646e+02] [ 5.81640577e-03 9.99982911e-01 -5.89169600e-04 -1.05275814e+00] [ 1.98923261e-02 4.73359202e-04 9.99802016e-01 1.90413852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.27, Y:-1.05, Z:0.19 [[ 9.99765673e-01 -8.54575574e-03 -1.98889239e-02 1.85270335e+02] [ 8.53552113e-03 9.99963392e-01 -5.99422982e-04 -1.04655436e+00] [ 1.98933183e-02 4.29520191e-04 9.99802016e-01 1.92026858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:185.33, Y:-1.03, Z:0.21 [[ 9.99775841e-01 -7.26027019e-03 -1.98886093e-02 1.85328722e+02] [ 7.24957732e-03 9.99973536e-01 -6.09685436e-04 -1.03468761e+00] [ 1.98925094e-02 4.65364759e-04 9.99802016e-01 2.09058624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:185.39, Y:-1.02, Z:0.19 [[ 9.99783040e-01 -6.19084996e-03 -1.98883298e-02 1.85387758e+02] [ 6.17976701e-03 9.99980714e-01 -6.18670228e-04 -1.02088106e+00] [ 1.98917763e-02 4.95630757e-04 9.99802016e-01 1.92522202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.45, Y:-1.01, Z:0.20 [[ 9.99770653e-01 -7.94353087e-03 -1.98882498e-02 1.85445300e+02] [ 7.93274357e-03 9.99968342e-01 -6.21230052e-04 -1.01267761e+00] [ 1.98925550e-02 4.63319189e-04 9.99802016e-01 1.96268947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.50, Y:-1.00, Z:0.20 [[ 9.99733261e-01 -1.17420838e-02 -1.98879227e-02 1.85504035e+02] [ 1.17318428e-02 9.99930980e-01 -6.31533635e-04 -1.00160703e+00] [ 1.98939655e-02 3.98043199e-04 9.99802016e-01 1.97868279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.802320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:185.56, Y:-0.99, Z:0.22 [[ 9.99682901e-01 -1.54460085e-02 -1.98876296e-02 1.85560866e+02] [ 1.54363192e-02 9.99880648e-01 -6.40630217e-04 -9.87789709e-01] [ 1.98951512e-02 3.33435274e-04 9.99802016e-01 2.15601491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.62, Y:-0.99, Z:0.20 [[ 9.99556946e-01 -2.21451268e-02 -1.98872848e-02 1.85619805e+02] [ 2.21365534e-02 9.99754744e-01 -6.51163167e-04 -9.85756234e-01] [ 1.98968274e-02 2.10638726e-04 9.99802016e-01 2.02976394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.68, Y:-0.99, Z:0.20 [[ 9.99405447e-01 -2.81648749e-02 -1.98870025e-02 1.85678875e+02] [ 2.81573237e-02 9.99603286e-01 -6.59671492e-04 -9.88529645e-01] [ 1.98976926e-02 9.93145150e-05 9.99802016e-01 2.02834526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.74, Y:-0.99, Z:0.20 [[ 9.99267671e-01 -3.26900676e-02 -1.98866836e-02 1.85737955e+02] [ 3.26832236e-02 9.99465537e-01 -6.69150017e-04 -9.87652832e-01] [ 1.98979294e-02 1.86990518e-05 9.99802016e-01 2.03140422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.80, Y:-0.99, Z:0.21 [[ 9.99314072e-01 -3.12396971e-02 -1.98863587e-02 1.85797305e+02] [ 3.12323765e-02 9.99511920e-01 -6.78669714e-04 -9.92987411e-01] [ 1.98978540e-02 5.71059525e-05 9.99802016e-01 2.06629289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:-0.99, Z:0.21 [[ 9.99572397e-01 -2.14375693e-02 -1.98860290e-02 1.85855952e+02] [ 2.14281192e-02 9.99770155e-01 -6.88197480e-04 -9.93151382e-01] [ 1.98962115e-02 2.61783005e-04 9.99802017e-01 2.06345040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.92, Y:-0.99, Z:0.21 [[ 9.99760528e-01 -9.13484066e-03 -1.98856973e-02 1.85915110e+02] [ 9.12276967e-03 9.99958143e-01 -6.97650952e-04 -9.92799332e-01] [ 1.98912379e-02 5.16071248e-04 9.99802017e-01 2.11070200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.97, Y:-0.98, Z:0.21 [[ 9.99792854e-01 -4.33842425e-03 -1.98853734e-02 1.85972864e+02] [ 4.32522425e-03 9.99990396e-01 -7.06765486e-04 -9.83818893e-01] [ 1.98882487e-02 6.20610383e-04 9.99802017e-01 2.11480833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.03, Y:-0.98, Z:0.22 [[ 9.99795666e-01 -3.63499121e-03 -1.98850066e-02 1.86030792e+02] [ 3.62145012e-03 9.99993186e-01 -7.16937173e-04 -9.78447369e-01] [ 1.98874772e-02 6.44778118e-04 9.99802017e-01 2.23755223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.09, Y:-0.97, Z:0.21 [[ 9.99801446e-01 1.28892928e-03 -1.98848358e-02 1.86089843e+02] [-1.30353649e-03 9.99998890e-01 -7.21646003e-04 -9.74560441e-01] [ 1.98838835e-02 7.47423326e-04 9.99802017e-01 2.12423031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.15, Y:-0.96, Z:0.22 [[ 9.99719836e-01 1.28396136e-02 -1.98845075e-02 1.86147040e+02] [-1.28566782e-02 9.99917083e-01 -7.30581378e-04 -9.56615795e-01] [ 1.98734783e-02 9.86025410e-04 9.99802017e-01 2.16306110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.20, Y:-0.94, Z:0.22 [[ 9.99691063e-01 1.49130451e-02 -1.98841408e-02 1.86204526e+02] [-1.49307141e-02 9.99888257e-01 -7.40429137e-04 -9.44874281e-01] [ 1.98708768e-02 1.03708481e-03 9.99802017e-01 2.15058395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.26, Y:-0.93, Z:0.22 [[ 9.99758588e-01 9.34888960e-03 -1.98837739e-02 1.86263145e+02] [-9.36565380e-03 9.99955860e-01 -7.50153352e-04 -9.28667200e-01] [ 1.98758831e-02 9.36196798e-04 9.99802017e-01 2.16411896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.32, Y:-0.92, Z:0.22 [[ 9.99777146e-01 7.09269318e-03 -1.98834485e-02 1.86322195e+02] [-7.10918139e-03 9.99974442e-01 -7.58680500e-04 -9.23301358e-01] [ 1.98775593e-02 8.99866467e-04 9.99802017e-01 2.17124197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.38, Y:-0.92, Z:0.22 [[ 9.99799651e-01 2.30627913e-03 -1.98831158e-02 1.86381282e+02] [-2.32199379e-03 9.99997010e-01 -7.67301693e-04 -9.16619214e-01] [ 1.98812868e-02 8.13316437e-04 9.99802017e-01 2.17575921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.44, Y:-0.90, Z:0.22 [[ 9.99796203e-01 -3.49659796e-03 -1.98828001e-02 1.86439204e+02] [ 3.48186822e-03 9.99993638e-01 -7.75398026e-04 -9.02402582e-01] [ 1.98853848e-02 7.06010713e-04 9.99802017e-01 2.18187169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.50, Y:-0.89, Z:0.22 [[ 9.99761943e-01 -8.98589467e-03 -1.98824504e-02 1.86496391e+02] [ 8.97207301e-03 9.99959443e-01 -7.84263675e-04 -8.91377339e-01] [ 1.98886913e-02 6.05690179e-04 9.99802017e-01 2.18010595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:186.55, Y:-0.88, Z:0.22 [[ 9.99661974e-01 -1.67524096e-02 -1.98820348e-02 1.86554449e+02] [ 1.67399159e-02 9.99859562e-01 -7.94662383e-04 -8.82626426e-01] [ 1.98925551e-02 4.61570175e-04 9.99802017e-01 2.20536671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.61, Y:-0.88, Z:0.24 [[ 9.99507178e-01 -2.42924211e-02 -1.98816137e-02 1.86612600e+02] [ 2.42812114e-02 9.99704844e-01 -8.05060871e-04 -8.77478822e-01] [ 1.98953024e-02 3.21914454e-04 9.99802017e-01 2.37102675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.67, Y:-0.86, Z:0.22 [[ 9.99477160e-01 -2.54979140e-02 -1.98812330e-02 1.86671614e+02] [ 2.54867579e-02 9.99674828e-01 -8.14355618e-04 -8.63282289e-01] [ 1.98955325e-02 3.07221669e-04 9.99802017e-01 2.24182179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.73, Y:-0.85, Z:0.23 [[ 9.99522733e-01 -2.36443694e-02 -1.98808744e-02 1.86729488e+02] [ 2.36326745e-02 9.99720371e-01 -8.23017094e-04 -8.53886828e-01] [ 1.98947749e-02 3.52786062e-04 9.99802017e-01 2.25423626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.79, Y:-0.85, Z:0.24 [[ 9.99479239e-01 -2.54166973e-02 -1.98807097e-02 1.86787870e+02] [ 2.54052741e-02 9.99676892e-01 -8.26977286e-04 -8.45988122e-01] [ 1.98953051e-02 3.21471749e-04 9.99802017e-01 2.41123643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:-0.83, Z:0.22 [[ 9.99355420e-01 -2.98917733e-02 -1.98803160e-02 1.86846959e+02] [ 2.98810491e-02 9.99553112e-01 -8.36335125e-04 -8.34991243e-01] [ 1.98964313e-02 2.41751341e-04 9.99802017e-01 2.23937866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.91, Y:-0.83, Z:0.23 [[ 9.99179191e-01 -3.52947733e-02 -1.98802019e-02 1.86905423e+02] [ 3.52850644e-02 9.99376936e-01 -8.39038792e-04 -8.34520540e-01] [ 1.98974290e-02 1.36875896e-04 9.99802017e-01 2.26151471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.96, Y:-0.83, Z:0.23 [[ 9.99055433e-01 -3.86396667e-02 -1.98800885e-02 1.86963669e+02] [ 3.86305666e-02 9.99253207e-01 -8.41716770e-04 -8.26027386e-01] [ 1.98977659e-02 7.29426286e-05 9.99802017e-01 2.28729713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.02, Y:-0.82, Z:0.23 [[ 9.98978573e-01 -4.05782829e-02 -1.98799754e-02 1.87021266e+02] [ 4.05695136e-02 9.99176362e-01 -8.44381025e-04 -8.23740369e-01] [ 1.98978650e-02 3.69976209e-05 9.99802017e-01 2.29947447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.08, Y:-0.82, Z:0.23 [[ 9.98682672e-01 -4.73044762e-02 -1.98798070e-02 1.87080553e+02] [ 4.72969604e-02 9.98880512e-01 -8.48327199e-04 -8.24920516e-01] [ 1.98976814e-02 -9.30447687e-05 9.99802017e-01 2.30832431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.14, Y:-0.83, Z:0.23 [[ 9.98511335e-01 -5.07928240e-02 -1.98796953e-02 1.87139950e+02] [ 5.07859475e-02 9.98709199e-01 -8.50935946e-04 -8.28271793e-01] [ 1.98972560e-02 -1.59939973e-04 9.99802017e-01 2.33746482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.20, Y:-0.83, Z:0.23 [[ 9.98602727e-01 -4.89632150e-02 -1.98795839e-02 1.87198644e+02] [ 4.89559243e-02 9.98800575e-01 -8.53531670e-04 -8.26322727e-01] [ 1.98975314e-02 -1.20884349e-04 9.99802017e-01 2.34768917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.26, Y:-0.83, Z:0.25 [[ 9.98783063e-01 -4.51353551e-02 -1.98794720e-02 1.87257309e+02] [ 4.51272544e-02 9.98980880e-01 -8.56129377e-04 -8.28570685e-01] [ 1.98978541e-02 -4.20184688e-05 9.99802017e-01 2.50822209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:187.32, Y:-0.83, Z:0.25 [[ 9.98901836e-01 -4.24256253e-02 -1.98793597e-02 1.87316620e+02] [ 4.24169362e-02 9.99099628e-01 -8.58729553e-04 -8.28825291e-01] [ 1.98978930e-02 1.45649951e-05 9.99802017e-01 2.48100310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.38, Y:-0.83, Z:0.23 [[ 9.98948971e-01 -4.13009385e-02 -1.98792777e-02 1.87375432e+02] [ 4.12919891e-02 9.99146751e-01 -8.60622730e-04 -8.30367763e-01] [ 1.98978603e-02 3.88632723e-05 9.99802017e-01 2.34474823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.43, Y:-0.83, Z:0.23 [[ 9.99008095e-01 -3.98453808e-02 -1.98789105e-02 1.87433251e+02] [ 3.98359761e-02 9.99205855e-01 -8.69022022e-04 -8.32046249e-01] [ 1.98977503e-02 7.62642313e-05 9.99802017e-01 2.31707314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:-0.83, Z:0.25 [[ 9.99253141e-01 -3.31360154e-02 -1.98787360e-02 1.87491965e+02] [ 3.31252039e-02 9.99450829e-01 -8.72995006e-04 -8.33121603e-01] [ 1.98967468e-02 2.13855818e-04 9.99802017e-01 2.52441528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.55, Y:-0.83, Z:0.24 [[ 9.99559100e-01 -2.20555441e-02 -1.98786204e-02 1.87550743e+02] [ 2.20424894e-02 9.99756651e-01 -8.75620832e-04 -8.28730390e-01] [ 1.98930952e-02 4.37060492e-04 9.99802017e-01 2.38376688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:-0.82, Z:0.26 [[ 9.99562986e-01 -2.18790734e-02 -1.98782109e-02 1.87609041e+02] [ 2.18658009e-02 9.99760523e-01 -8.84820304e-04 -8.23093637e-01] [ 1.98928096e-02 4.49780624e-04 9.99802017e-01 2.60037636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:187.67, Y:-0.82, Z:0.25 [[ 9.99604287e-01 -1.99033119e-02 -1.98777932e-02 1.87668920e+02] [ 1.98894644e-02 9.99801785e-01 -8.94105419e-04 -8.20662363e-01] [ 1.98916488e-02 4.98392948e-04 9.99802017e-01 2.54334231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02232058799999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:187.73, Y:-0.81, Z:0.26 [[ 9.99578222e-01 -2.11720278e-02 -1.98777340e-02 1.87726974e+02] [ 2.11584049e-02 9.99775735e-01 -8.95421489e-04 -8.07889414e-01] [ 1.98922340e-02 4.74462677e-04 9.99802017e-01 2.58818572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.79, Y:-0.81, Z:0.24 [[ 9.99503083e-01 -2.44636070e-02 -1.98776146e-02 1.87785813e+02] [ 2.44505821e-02 9.99700636e-01 -8.98062561e-04 -8.08446116e-01] [ 1.98936339e-02 4.11597049e-04 9.99802017e-01 2.41037868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:-0.80, Z:0.24 [[ 9.99451530e-01 -2.64865245e-02 -1.98771953e-02 1.87844003e+02] [ 2.64737167e-02 9.99649098e-01 -9.07249869e-04 -7.99275647e-01] [ 1.98942503e-02 3.80529032e-04 9.99802017e-01 2.42268078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.90, Y:-0.79, Z:0.24 [[ 9.99476561e-01 -2.55246129e-02 -1.98770733e-02 1.87902583e+02] [ 2.55115621e-02 9.99674113e-01 -9.09915840e-04 -7.93737352e-01] [ 1.98938208e-02 4.02344366e-04 9.99802017e-01 2.43193639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:-0.79, Z:0.24 [[ 9.99507459e-01 -2.42846745e-02 -1.98769516e-02 1.87961214e+02] [ 2.42713259e-02 9.99704991e-01 -9.12566125e-04 -7.85132546e-01] [ 1.98932491e-02 4.29676679e-04 9.99802017e-01 2.42880961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.02, Y:-0.78, Z:0.25 [[ 9.99449340e-01 -2.65695607e-02 -1.98765201e-02 1.88019157e+02] [ 2.65564787e-02 9.99646889e-01 -9.21870438e-04 -7.80776366e-01] [ 1.98939951e-02 3.93512418e-04 9.99802017e-01 2.46953681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:188.08, Y:-0.77, Z:0.26 [[ 9.99295385e-01 -3.18381079e-02 -1.98763337e-02 1.88077014e+02] [ 3.18259881e-02 9.99492996e-01 -9.25870332e-04 -7.72853784e-01] [ 1.98957343e-02 2.92633989e-04 9.99802017e-01 2.64563486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:188.14, Y:-0.76, Z:0.26 [[ 9.99294876e-01 -3.18541411e-02 -1.98762082e-02 1.88135901e+02] [ 3.18419710e-02 9.99492485e-01 -9.28557345e-04 -7.61566622e-01] [ 1.98956991e-02 2.95004953e-04 9.99802017e-01 2.64123739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.19, Y:-0.76, Z:0.25 [[ 9.99308263e-01 -3.14316178e-02 -1.98758163e-02 1.88194938e+02] [ 3.14191987e-02 9.99505856e-01 -9.36872754e-04 -7.55471407e-01] [ 1.98954422e-02 3.11742464e-04 9.99802018e-01 2.47257720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.25, Y:-0.75, Z:0.25 [[ 9.99294857e-01 -3.18550698e-02 -1.98756934e-02 1.88253688e+02] [ 3.18426828e-02 9.99492452e-01 -9.39472450e-04 -7.54711507e-01] [ 1.98955325e-02 3.05914589e-04 9.99802018e-01 2.49993963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.31, Y:-0.75, Z:0.25 [[ 9.99237536e-01 -3.36051851e-02 -1.98755686e-02 1.88312277e+02] [ 3.35930918e-02 9.99435149e-01 -9.42104513e-04 -7.45652828e-01] [ 1.98960015e-02 2.73704391e-04 9.99802018e-01 2.49820023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:188.37, Y:-0.73, Z:0.27 [[ 9.99277463e-01 -3.23962907e-02 -1.98754432e-02 1.88370219e+02] [ 3.23839059e-02 9.99475057e-01 -9.44743232e-04 -7.34140844e-01] [ 1.98956159e-02 3.00416137e-04 9.99802018e-01 2.69611220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.43, Y:-0.73, Z:0.25 [[ 9.99280017e-01 -3.23174904e-02 -1.98753180e-02 1.88428219e+02] [ 3.23050378e-02 9.99477607e-01 -9.47368622e-04 -7.29643103e-01] [ 1.98955519e-02 3.04613632e-04 9.99802018e-01 2.54200483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:188.49, Y:-0.72, Z:0.25 [[ 9.99112551e-01 -3.71361011e-02 -1.98751268e-02 1.88486843e+02] [ 3.71245220e-02 9.99310194e-01 -9.51364355e-04 -7.21254426e-01] [ 1.98967468e-02 2.12665486e-04 9.99802018e-01 2.54658690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.55, Y:-0.72, Z:0.26 [[ 9.98963176e-01 -4.09579991e-02 -1.98749998e-02 1.88545570e+02] [ 4.09471236e-02 9.99160859e-01 -9.54009721e-04 -7.19171473e-01] [ 1.98973962e-02 1.39196508e-04 9.99802018e-01 2.59184279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:-0.71, Z:0.26 [[ 9.98810645e-01 -4.45228572e-02 -1.98748736e-02 1.88604503e+02] [ 4.45126351e-02 9.99008363e-01 -9.56630973e-04 -7.14498177e-01] [ 1.98977569e-02 7.08102019e-05 9.99802018e-01 2.59548218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.66, Y:-0.71, Z:0.26 [[ 9.98565515e-01 -4.97182789e-02 -1.98747467e-02 1.88663766e+02] [ 4.97090331e-02 9.98763281e-01 -9.59260875e-04 -7.13909766e-01] [ 1.98978600e-02 -3.00696125e-05 9.99802018e-01 2.56433421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:-0.72, Z:0.26 [[ 9.98356806e-01 -5.37465136e-02 -1.98746196e-02 1.88722249e+02] [ 5.37380136e-02 9.98554606e-01 -9.61886666e-04 -7.19922336e-01] [ 1.98975910e-02 -1.07716480e-04 9.99802018e-01 2.58709326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.78, Y:-0.71, Z:0.26 [[ 9.98439455e-01 -5.21887131e-02 -1.98744311e-02 1.88780653e+02] [ 5.21798272e-02 9.98637238e-01 -9.65766170e-04 -7.14985885e-01] [ 1.98977491e-02 -7.27853319e-05 9.99802018e-01 2.61779160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:-0.71, Z:0.28 [[ 9.98808086e-01 -4.45804744e-02 -1.98743059e-02 1.88839571e+02] [ 4.45700308e-02 9.99005793e-01 -9.68335577e-04 -7.12497162e-01] [ 1.98977156e-02 8.13829778e-05 9.99802018e-01 2.77819397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.90, Y:-0.71, Z:0.27 [[ 9.98946737e-01 -4.13573841e-02 -1.98741786e-02 1.88897742e+02] [ 4.13462508e-02 9.99144406e-01 -9.70941585e-04 -7.07272462e-01] [ 1.98973300e-02 1.48196155e-04 9.99802018e-01 2.65828857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:188.96, Y:-0.71, Z:0.28 [[ 9.98858977e-01 -4.34254476e-02 -1.98739842e-02 1.88956135e+02] [ 4.34146447e-02 9.99056664e-01 -9.74903538e-04 -7.05646050e-01] [ 1.98975720e-02 1.10969185e-04 9.99802018e-01 2.82260416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.01, Y:-0.71, Z:0.27 [[ 9.98583235e-01 -4.93614401e-02 -1.98738549e-02 1.89014971e+02] [ 4.93517601e-02 9.98780981e-01 -9.77533322e-04 -7.05357249e-01] [ 1.98978807e-02 -4.66133048e-06 9.99802018e-01 2.69242738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.07, Y:-0.70, Z:0.27 [[ 9.98463647e-01 -5.17240786e-02 -1.98737253e-02 1.89074113e+02] [ 5.17148142e-02 9.98661413e-01 -9.80160545e-04 -7.04324421e-01] [ 1.98978205e-02 -4.91113390e-05 9.99802018e-01 2.66520549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.13, Y:-0.71, Z:0.27 [[ 9.98362674e-01 -5.36377783e-02 -1.98735964e-02 1.89132683e+02] [ 5.36288410e-02 9.98560455e-01 -9.82768492e-04 -7.08690321e-01] [ 1.98977009e-02 -8.46385601e-05 9.99802018e-01 2.69292826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:-0.71, Z:0.27 [[ 9.98373488e-01 -5.34361751e-02 -1.98734346e-02 1.89192038e+02] [ 5.34271330e-02 9.98571264e-01 -9.86028248e-04 -7.08870527e-01] [ 1.98977303e-02 -7.73561735e-05 9.99802018e-01 2.70573303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.25, Y:-0.71, Z:0.27 [[ 9.98443360e-01 -5.21143717e-02 -1.98733380e-02 1.89250443e+02] [ 5.21050291e-02 9.98641122e-01 -9.87972106e-04 -7.07922315e-01] [ 1.98978201e-02 -4.90666651e-05 9.99802018e-01 2.71368307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.31, Y:-0.71, Z:0.28 [[ 9.98748403e-01 -4.58986177e-02 -1.98732081e-02 1.89308086e+02] [ 4.58879924e-02 9.98946100e-01 -9.90577986e-04 -7.08922639e-01] [ 1.98977299e-02 7.73965592e-05 9.99802018e-01 2.75959261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.37, Y:-0.71, Z:0.29 [[ 9.98933152e-01 -4.16847877e-02 -1.98730115e-02 1.89366882e+02] [ 4.16732503e-02 9.99130798e-01 -9.94506755e-04 -7.06438114e-01] [ 1.98971936e-02 1.65272784e-04 9.99802018e-01 2.91175930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.43, Y:-0.70, Z:0.28 [[ 9.99302194e-01 -3.16258338e-02 -1.98728806e-02 1.89426273e+02] [ 3.16122554e-02 9.99499710e-01 -9.97114608e-04 -7.01808529e-01] [ 1.98944730e-02 3.68192238e-04 9.99802018e-01 2.76720973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.48, Y:-0.69, Z:0.28 [[ 9.99427804e-01 -2.73706135e-02 -1.98724590e-02 1.89484770e+02] [ 2.73560286e-02 9.99625248e-01 -1.00544910e-03 -6.93069896e-01] [ 1.98925315e-02 4.61242230e-04 9.99802018e-01 2.80078271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:189.54, Y:-0.68, Z:0.28 [[ 9.99555418e-01 -2.22276839e-02 -1.98719894e-02 1.89543179e+02] [ 2.22119005e-02 9.99752770e-01 -1.01464569e-03 -6.84050132e-01] [ 1.98896297e-02 5.72799948e-04 9.99802018e-01 2.82975910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.60, Y:-0.67, Z:0.28 [[ 9.99620130e-01 -1.90976061e-02 -1.98715144e-02 1.89601149e+02] [ 1.90810218e-02 9.99817416e-01 -1.02386534e-03 -6.74672527e-01] [ 1.98874395e-02 6.44307611e-04 9.99802018e-01 2.79618476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:-0.66, Z:0.28 [[ 9.99656895e-01 -1.70652079e-02 -1.98713447e-02 1.89659398e+02] [ 1.70481574e-02 9.99854142e-01 -1.02714689e-03 -6.59703025e-01] [ 1.98859748e-02 6.88024661e-04 9.99802018e-01 2.81268153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:-0.64, Z:0.30 [[ 9.99706663e-01 -1.38469049e-02 -1.98708704e-02 1.89717083e+02] [ 1.38290389e-02 9.99903837e-01 -1.03624331e-03 -6.42754956e-01] [ 1.98833083e-02 7.61144306e-04 9.99802018e-01 3.02405511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.78, Y:-0.63, Z:0.29 [[ 9.99658999e-01 -1.69426715e-02 -1.98703914e-02 1.89775964e+02] [ 1.69252354e-02 9.99856211e-01 -1.04534722e-03 -6.29979649e-01] [ 1.98852453e-02 7.08679700e-04 9.99802018e-01 2.85220088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:-0.62, Z:0.29 [[ 9.99460372e-01 -2.61560245e-02 -1.98702553e-02 1.89834336e+02] [ 2.61403556e-02 9.99657733e-01 -1.04792885e-03 -6.17388180e-01] [ 1.98908640e-02 5.27947818e-04 9.99802018e-01 2.86333896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.89, Y:-0.61, Z:0.30 [[ 9.99168674e-01 -3.55968952e-02 -1.98701164e-02 1.89892128e+02] [ 3.55830393e-02 9.99366171e-01 -1.05055609e-03 -6.09680992e-01] [ 1.98949186e-02 3.42643605e-04 9.99802018e-01 3.03791415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.95, Y:-0.60, Z:0.29 [[ 9.98816687e-01 -4.43893007e-02 -1.98699768e-02 1.89950526e+02] [ 4.43771311e-02 9.99014295e-01 -1.05318996e-03 -6.02143242e-01] [ 1.98971412e-02 1.70171145e-04 9.99802018e-01 2.88150531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:-0.60, Z:0.29 [[ 9.98322303e-01 -5.43853835e-02 -1.98698347e-02 1.90009382e+02] [ 5.43751394e-02 9.98520020e-01 -1.05586392e-03 -5.96443017e-01] [ 1.98978513e-02 -2.63325271e-05 9.99802018e-01 2.88133761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.07, Y:-0.59, Z:0.29 [[ 9.98166081e-01 -5.71810340e-02 -1.98696954e-02 1.90067669e+02] [ 5.71712917e-02 9.98363823e-01 -1.05847742e-03 -5.92986223e-01] [ 1.98977099e-02 -7.94398979e-05 9.99802018e-01 2.89769852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.13, Y:-0.60, Z:0.31 [[ 9.97515997e-01 -6.75798733e-02 -1.98694908e-02 1.90126402e+02] [ 6.75721159e-02 9.97713827e-01 -1.06230546e-03 -5.98643965e-01] [ 1.98958562e-02 -2.82956846e-04 9.99802018e-01 3.11119601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.19, Y:-0.60, Z:0.29 [[ 9.97468816e-01 -6.82727581e-02 -1.98693552e-02 1.90186190e+02] [ 6.82650877e-02 9.97666650e-01 -1.06483627e-03 -5.99565626e-01] [ 1.98956923e-02 -2.94242298e-04 9.99802018e-01 2.93831070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.24, Y:-0.60, Z:0.29 [[ 9.97919867e-01 -6.13282384e-02 -1.98692236e-02 1.90244486e+02] [ 6.13191424e-02 9.98117640e-01 -1.06728625e-03 -5.96131393e-01] [ 1.98972773e-02 -1.53297597e-04 9.99802018e-01 2.94940859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.30, Y:-0.60, Z:0.30 [[ 9.98351388e-01 -5.38490991e-02 -1.98690881e-02 1.90303728e+02] [ 5.38384714e-02 9.98549085e-01 -1.06980102e-03 -5.97190975e-01] [ 1.98978676e-02 -1.68399918e-06 9.99802018e-01 2.95730245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.36, Y:-0.59, Z:0.30 [[ 9.98561548e-01 -4.98002047e-02 -1.98689503e-02 1.90362407e+02] [ 4.97887246e-02 9.98759197e-01 -1.07235471e-03 -5.88414793e-01] [ 1.98977003e-02 8.15624860e-05 9.99802018e-01 2.96834288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.42, Y:-0.58, Z:0.30 [[ 9.98835635e-01 -4.39613960e-02 -1.98688089e-02 1.90421180e+02] [ 4.39487086e-02 9.99033210e-01 -1.07496858e-03 -5.78167466e-01] [ 1.98968571e-02 2.00508433e-04 9.99802018e-01 2.97402717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:190.48, Y:-0.57, Z:0.32 [[ 9.98934556e-01 -4.16532070e-02 -1.98686684e-02 1.90479772e+02] [ 4.16400116e-02 9.99132098e-01 -1.07755841e-03 -5.71960660e-01] [ 1.98963081e-02 2.49078751e-04 9.99802018e-01 3.16268535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.54, Y:-0.57, Z:0.30 [[ 9.98767441e-01 -4.54844838e-02 -1.98685608e-02 1.90539088e+02] [ 4.54720067e-02 9.98965030e-01 -1.07953976e-03 -5.68071246e-01] [ 1.98970997e-02 1.74745832e-04 9.99802018e-01 3.00788093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.60, Y:-0.56, Z:0.30 [[ 9.98552656e-01 -4.99783765e-02 -1.98684209e-02 1.90597792e+02] [ 4.99667376e-02 9.98750296e-01 -1.08210793e-03 -5.56086698e-01] [ 1.98976733e-02 8.77815735e-05 9.99802018e-01 3.01444606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.66, Y:-0.55, Z:0.30 [[ 9.98409798e-01 -5.27553343e-02 -1.98683146e-02 1.90656537e+02] [ 5.27442064e-02 9.98607467e-01 -1.08405651e-03 -5.54788516e-01] [ 1.98978371e-02 3.43941560e-05 9.99802018e-01 3.04545929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.72, Y:-0.55, Z:0.30 [[ 9.98172781e-01 -5.70644861e-02 -1.98681739e-02 1.90715488e+02] [ 5.70541603e-02 9.98370493e-01 -1.08662904e-03 -5.48147976e-01] [ 1.98978065e-02 -4.89184439e-05 9.99802018e-01 3.04688977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.77, Y:-0.54, Z:0.32 [[ 9.97941744e-01 -6.09716012e-02 -1.98680327e-02 1.90773725e+02] [ 6.09619982e-02 9.98139493e-01 -1.08920400e-03 -5.42158325e-01] [ 1.98974786e-02 -1.24232839e-04 9.99802018e-01 3.18693945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.83, Y:-0.54, Z:0.31 [[ 9.97802649e-01 -6.32071216e-02 -1.98678923e-02 1.90833140e+02] [ 6.31979107e-02 9.98000417e-01 -1.09175949e-03 -5.42718240e-01] [ 1.98971718e-02 -1.66248778e-04 9.99802018e-01 3.05665535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.89, Y:-0.54, Z:0.31 [[ 9.97780067e-01 -6.35626426e-02 -1.98677550e-02 1.90892213e+02] [ 6.35534526e-02 9.97977836e-01 -1.09425185e-03 -5.36627465e-01] [ 1.98971327e-02 -1.70841742e-04 9.99802018e-01 3.06776615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.95, Y:-0.53, Z:0.31 [[ 9.97701221e-01 -6.47885082e-02 -1.98676512e-02 1.90950434e+02] [ 6.47795237e-02 9.97898999e-01 -1.09613421e-03 -5.31120706e-01] [ 1.98969261e-02 -1.93402542e-04 9.99802018e-01 3.10055802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.01, Y:-0.53, Z:0.31 [[ 9.97275720e-01 -7.10381592e-02 -1.98675132e-02 1.91008847e+02] [ 7.10303644e-02 9.97473549e-01 -1.09862883e-03 -5.32046181e-01] [ 1.98953635e-02 -3.15560843e-04 9.99802018e-01 3.11297007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.07, Y:-0.53, Z:0.31 [[ 9.96674462e-01 -7.90272467e-02 -1.98673186e-02 1.91068308e+02] [ 7.90209674e-02 9.96872345e-01 -1.10213839e-03 -5.34216052e-01] [ 1.98922794e-02 -4.71461549e-04 9.99802018e-01 3.12747395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.13, Y:-0.54, Z:0.31 [[ 9.96539668e-01 -8.07092540e-02 -1.98672158e-02 1.91127964e+02] [ 8.07032719e-02 9.96737560e-01 -1.10398809e-03 -5.35959805e-01] [ 1.98915022e-02 -5.03181389e-04 9.99802018e-01 3.12842267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.19, Y:-0.54, Z:0.31 [[ 9.96704666e-01 -7.86454422e-02 -1.98671477e-02 1.91186832e+02] [ 7.86390258e-02 9.96902544e-01 -1.10521181e-03 -5.35887098e-01] [ 1.98925299e-02 -4.60763368e-04 9.99802018e-01 3.13673182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.25, Y:-0.54, Z:0.31 [[ 9.96854081e-01 -7.67283721e-02 -1.98670113e-02 1.91245933e+02] [ 7.67215264e-02 9.97051945e-01 -1.10765900e-03 -5.36862390e-01] [ 1.98934311e-02 -4.20053039e-04 9.99802018e-01 3.14803035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.30, Y:-0.54, Z:0.31 [[ 9.96861226e-01 -7.66355173e-02 -1.98668747e-02 1.91304499e+02] [ 7.66286046e-02 9.97059088e-01 -1.11010261e-03 -5.37162651e-01] [ 1.98935213e-02 -4.15752633e-04 9.99802018e-01 3.14391888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.36, Y:-0.54, Z:0.32 [[ 9.97167188e-01 -7.25459361e-02 -1.98667374e-02 1.91363641e+02] [ 7.25381630e-02 9.97365017e-01 -1.11255418e-03 -5.37536854e-01] [ 1.98951002e-02 -3.31694116e-04 9.99802018e-01 3.18099472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.42, Y:-0.53, Z:0.33 [[ 9.97876210e-01 -6.20353753e-02 -1.98665990e-02 1.91422248e+02] [ 6.20254691e-02 9.98073944e-01 -1.11502094e-03 -5.34988436e-01] [ 1.98975055e-02 -1.19582252e-04 9.99802018e-01 3.29363960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.48, Y:-0.53, Z:0.32 [[ 9.97864953e-01 -6.22162238e-02 -1.98664584e-02 1.91481378e+02] [ 6.22063037e-02 9.98062687e-01 -1.11751913e-03 -5.31669374e-01] [ 1.98974987e-02 -1.20685777e-04 9.99802018e-01 3.18987808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.54, Y:-0.54, Z:0.32 [[ 9.97866497e-01 -6.21915137e-02 -1.98663156e-02 1.91540141e+02] [ 6.21815383e-02 9.98064227e-01 -1.12005191e-03 -5.38657825e-01] [ 1.98975167e-02 -1.17655791e-04 9.99802018e-01 3.21660224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.60, Y:-0.54, Z:0.32 [[ 9.98002131e-01 -5.99756818e-02 -1.98661364e-02 1.91599048e+02] [ 5.99652043e-02 9.98199836e-01 -1.12322306e-03 -5.37726487e-01] [ 1.98977401e-02 -7.02979151e-05 9.99802018e-01 3.23562969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.66, Y:-0.53, Z:0.32 [[ 9.98339141e-01 -5.40768094e-02 -1.98659896e-02 1.91657992e+02] [ 5.40651121e-02 9.98536778e-01 -1.12581254e-03 -5.34377760e-01] [ 1.98978016e-02 4.98857746e-05 9.99802018e-01 3.22746490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:191.72, Y:-0.54, Z:0.32 [[ 9.98601928e-01 -4.89850708e-02 -1.98658428e-02 1.91717461e+02] [ 4.89723144e-02 9.98799499e-01 -1.12839756e-03 -5.36863072e-01] [ 1.98972684e-02 1.53943681e-04 9.99802018e-01 3.21839738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.78, Y:-0.53, Z:0.32 [[ 9.98672488e-01 -4.75249059e-02 -1.98656958e-02 1.91775713e+02] [ 4.75118093e-02 9.98870036e-01 -1.13097860e-03 -5.33584755e-01] [ 1.98969980e-02 1.85622058e-04 9.99802018e-01 3.23569788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.83, Y:-0.52, Z:0.33 [[ 9.98781312e-01 -4.51801962e-02 -1.98655468e-02 1.91834081e+02] [ 4.51665840e-02 9.98978826e-01 -1.13359001e-03 -5.24268014e-01] [ 1.98964765e-02 2.34949632e-04 9.99802018e-01 3.29396292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.89, Y:-0.52, Z:0.33 [[ 9.98874682e-01 -4.30666498e-02 -1.98653989e-02 1.91892030e+02] [ 4.30525682e-02 9.99072162e-01 -1.13617545e-03 -5.20407049e-01] [ 1.98958984e-02 2.79640445e-04 9.99802018e-01 3.28058317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.95, Y:-0.52, Z:0.33 [[ 9.98863082e-01 -4.33349450e-02 -1.98651724e-02 1.91949602e+02] [ 4.33208380e-02 9.99060561e-01 -1.14012253e-03 -5.18421910e-01] [ 1.98959174e-02 2.78250393e-04 9.99802018e-01 3.28019978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:192.01, Y:-0.51, Z:0.33 [[ 9.98717206e-01 -4.65760288e-02 -1.98649479e-02 1.92008611e+02] [ 4.65624851e-02 9.98914724e-01 -1.14402028e-03 -5.12314242e-01] [ 1.98966729e-02 2.17591394e-04 9.99802018e-01 3.29424081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.07, Y:-0.51, Z:0.33 [[ 9.98598815e-01 -4.90489125e-02 -1.98647980e-02 1.92067419e+02] [ 4.90358063e-02 9.98796363e-01 -1.14661855e-03 -5.06454203e-01] [ 1.98971284e-02 1.70925541e-04 9.99802018e-01 3.32668985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.13, Y:-0.50, Z:0.33 [[ 9.98480146e-01 -5.14081083e-02 -1.98646445e-02 1.92126233e+02] [ 5.13954161e-02 9.98677721e-01 -1.14927136e-03 -5.02236979e-01] [ 1.98974598e-02 1.26572967e-04 9.99802018e-01 3.32764662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.19, Y:-0.50, Z:0.33 [[ 9.98432928e-01 -5.23172069e-02 -1.98644917e-02 1.92185321e+02] [ 5.23046422e-02 9.98630511e-01 -1.15190656e-03 -5.01891485e-01] [ 1.98975520e-02 1.11096314e-04 9.99802018e-01 3.32208079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.24, Y:-0.50, Z:0.33 [[ 9.98478569e-01 -5.14388457e-02 -1.98643406e-02 1.92243329e+02] [ 5.14260555e-02 9.98676138e-01 -1.15450630e-03 -4.95328223e-01] [ 1.98974294e-02 1.31205113e-04 9.99802018e-01 3.34606609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:-0.49, Z:0.35 [[ 9.98654654e-01 -4.78988434e-02 -1.98640844e-02 1.92301482e+02] [ 4.78852655e-02 9.98852170e-01 -1.15889736e-03 -4.87820085e-01] [ 1.98967937e-02 2.06141284e-04 9.99802018e-01 3.49621342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:-0.48, Z:0.34 [[ 9.98701671e-01 -4.69083782e-02 -1.98639335e-02 1.92360120e+02] [ 4.68945530e-02 9.98899170e-01 -1.16147817e-03 -4.81880471e-01] [ 1.98965497e-02 2.28459903e-04 9.99802018e-01 3.38092686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:192.42, Y:-0.48, Z:0.34 [[ 9.98746507e-01 -4.59439391e-02 -1.98637804e-02 1.92418733e+02] [ 4.59298713e-02 9.98943988e-01 -1.16409137e-03 -4.75073688e-01] [ 1.98962869e-02 2.50291318e-04 9.99802018e-01 3.38939996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.48, Y:-0.46, Z:0.34 [[ 9.98851116e-01 -4.36106110e-02 -1.98636269e-02 1.92477173e+02] [ 4.35960299e-02 9.99048560e-01 -1.16670407e-03 -4.62479250e-01] [ 1.98956085e-02 2.99388390e-04 9.99802018e-01 3.41241803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.54, Y:-0.45, Z:0.34 [[ 9.98944592e-01 -4.14143032e-02 -1.98634742e-02 1.92535826e+02] [ 4.13992365e-02 9.99142000e-01 -1.16929769e-03 -4.52429661e-01] [ 1.98948570e-02 3.45730938e-04 9.99802018e-01 3.43446983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:-0.44, Z:0.34 [[ 9.98917982e-01 -4.20513297e-02 -1.98633212e-02 1.92594364e+02] [ 4.20363374e-02 9.99115395e-01 -1.17189081e-03 -4.44404297e-01] [ 1.98950296e-02 3.35641527e-04 9.99802018e-01 3.42426379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.65, Y:-0.43, Z:0.34 [[ 9.98699701e-01 -4.69506290e-02 -1.98631689e-02 1.92652115e+02] [ 4.69365539e-02 9.98897182e-01 -1.17446710e-03 -4.31275624e-01] [ 1.98964054e-02 2.40631241e-04 9.99802018e-01 3.42891669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:192.71, Y:-0.43, Z:0.36 [[ 9.98534242e-01 -5.03470722e-02 -1.98630141e-02 1.92711389e+02] [ 5.03336169e-02 9.98731767e-01 -1.17707971e-03 -4.29372923e-01] [ 1.98970857e-02 1.75577059e-04 9.99802018e-01 3.59641420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.77, Y:-0.43, Z:0.34 [[ 9.98255167e-01 -5.56065272e-02 -1.98629379e-02 1.92770466e+02] [ 5.55940871e-02 9.98452757e-01 -1.17836456e-03 -4.27146103e-01] [ 1.98977298e-02 7.20466150e-05 9.99802018e-01 3.44865703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.83, Y:-0.42, Z:0.35 [[ 9.98155811e-01 -5.73624104e-02 -1.98627841e-02 1.92828680e+02] [ 5.73502664e-02 9.98353421e-01 -1.18095116e-03 -4.19116789e-01] [ 1.98978206e-02 3.96373064e-05 9.99802018e-01 3.45408312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:-0.42, Z:0.35 [[ 9.97919902e-01 -6.13298031e-02 -1.98626324e-02 1.92887543e+02] [ 6.13183941e-02 9.98117555e-01 -1.18349587e-03 -4.15085627e-01] [ 1.98978257e-02 -3.69106437e-05 9.99802018e-01 3.47095717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.362320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:-0.42, Z:0.37 [[ 9.97492700e-01 -6.79249300e-02 -1.98624776e-02 1.92946408e+02] [ 6.79147761e-02 9.97690421e-01 -1.18608887e-03 -4.15932975e-01] [ 1.98971686e-02 -1.65840727e-04 9.99802018e-01 3.66534879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.01, Y:-0.42, Z:0.35 [[ 9.97148789e-01 -7.27995923e-02 -1.98623262e-02 1.93005849e+02] [ 7.27903546e-02 9.97346555e-01 -1.18861879e-03 -4.17615583e-01] [ 1.98961536e-02 -2.60555979e-04 9.99802018e-01 3.47748006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.06, Y:-0.42, Z:0.35 [[ 9.96970797e-01 -7.51978963e-02 -1.98621749e-02 1.93064288e+02] [ 7.51890840e-02 9.97168583e-01 -1.19114112e-03 -4.15519925e-01] [ 1.98955081e-02 -3.05885831e-04 9.99802018e-01 3.49369892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.12, Y:-0.42, Z:0.35 [[ 9.97054369e-01 -7.40816054e-02 -1.98620274e-02 1.93123834e+02] [ 7.40725228e-02 9.97252143e-01 -1.19359567e-03 -4.21662966e-01] [ 1.98958729e-02 -2.81150701e-04 9.99802018e-01 3.50414018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.18, Y:-0.43, Z:0.35 [[ 9.97241405e-01 -7.15198354e-02 -1.98618791e-02 1.93183777e+02] [ 7.15101956e-02 9.97439152e-01 -1.19605961e-03 -4.29822297e-01] [ 1.98965578e-02 -2.27566695e-04 9.99802018e-01 3.52196452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.24, Y:-0.43, Z:0.37 [[ 9.97567886e-01 -6.68118527e-02 -1.98617665e-02 1.93242554e+02] [ 6.68012425e-02 9.97765583e-01 -1.19792651e-03 -4.28556708e-01] [ 1.98974227e-02 -1.31777666e-04 9.99802018e-01 3.68531776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.30, Y:-0.43, Z:0.35 [[ 9.98234283e-01 -5.59806478e-02 -1.98616151e-02 1.93301471e+02] [ 5.59678426e-02 9.98431850e-01 -1.20043055e-03 -4.28608231e-01] [ 1.98976700e-02 8.66991755e-05 9.99802018e-01 3.54907949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:-0.43, Z:0.35 [[ 9.98830337e-01 -4.40849065e-02 -1.98615008e-02 1.93360161e+02] [ 4.40697112e-02 9.99027735e-01 -1.20231862e-03 -4.26156137e-01] [ 1.98951943e-02 3.25621707e-04 9.99802018e-01 3.54797653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.42, Y:-0.42, Z:0.36 [[ 9.99076193e-01 -3.81088810e-02 -1.98613454e-02 1.93418274e+02] [ 3.80924541e-02 9.99273493e-01 -1.20488003e-03 -4.21301398e-01] [ 1.98928327e-02 4.47199562e-04 9.99802018e-01 3.56980193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.48, Y:-0.41, Z:0.37 [[ 9.99362907e-01 -2.96532286e-02 -1.98611879e-02 1.93477172e+02] [ 2.96350813e-02 9.99560055e-01 -1.20747135e-03 -4.12729251e-01] [ 1.98882555e-02 6.18114164e-04 9.99802018e-01 3.70636509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:193.53, Y:-0.40, Z:0.37 [[ 9.99572495e-01 -2.14561016e-02 -1.98611095e-02 1.93534230e+02] [ 2.14363124e-02 9.99769485e-01 -1.20875927e-03 -3.99825826e-01] [ 1.98824665e-02 7.82493566e-04 9.99802018e-01 3.69820432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:-0.39, Z:0.36 [[ 9.99613180e-01 -1.94692628e-02 -1.98604631e-02 1.93593434e+02] [ 1.94488733e-02 9.99810109e-01 -1.21928774e-03 -3.92257052e-01] [ 1.98804305e-02 8.32552465e-04 9.99802018e-01 3.60128298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:193.65, Y:-0.38, Z:0.36 [[ 9.99681168e-01 -1.55930802e-02 -1.98599521e-02 1.93650130e+02] [ 1.55717634e-02 9.99877999e-01 -1.22755586e-03 -3.79348637e-01] [ 1.98766705e-02 9.17910006e-04 9.99802018e-01 3.63036497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.71, Y:-0.37, Z:0.36 [[ 9.99657741e-01 -1.70296266e-02 -1.98593086e-02 1.93708218e+02] [ 1.70083880e-02 9.99854581e-01 -1.23787949e-03 -3.68807771e-01] [ 1.98775013e-02 8.99680988e-04 9.99802018e-01 3.62641499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.77, Y:-0.36, Z:0.36 [[ 9.99594407e-01 -2.04120557e-02 -1.98587448e-02 1.93766553e+02] [ 2.03913052e-02 9.99791298e-01 -1.24685823e-03 -3.58501000e-01] [ 1.98800512e-02 8.41406791e-04 9.99802018e-01 3.64137517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:-0.35, Z:0.37 [[ 9.99549626e-01 -2.24984851e-02 -1.98585817e-02 1.93824723e+02] [ 2.24780942e-02 9.99746555e-01 -1.24945121e-03 -3.49326778e-01] [ 1.98816594e-02 8.02505424e-04 9.99802018e-01 3.66687717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.88, Y:-0.34, Z:0.37 [[ 9.99433508e-01 -2.71717754e-02 -1.98584182e-02 1.93883015e+02] [ 2.71522540e-02 9.99630525e-01 -1.25204369e-03 -3.39028438e-01] [ 1.98851013e-02 7.12133602e-04 9.99802018e-01 3.66399043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.382320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:193.94, Y:-0.33, Z:0.38 [[ 9.99247071e-01 -3.33307817e-02 -1.98582542e-02 1.93940936e+02] [ 3.33124234e-02 9.99444200e-01 -1.25464062e-03 -3.31352957e-01] [ 1.98890351e-02 5.92169399e-04 9.99802018e-01 3.82584784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.00, Y:-0.32, Z:0.37 [[ 9.99240579e-01 -3.35249402e-02 -1.98580892e-02 1.93998939e+02] [ 3.35065684e-02 9.99437707e-01 -1.25724605e-03 -3.20281541e-01] [ 1.98890722e-02 5.90914844e-04 9.99802018e-01 3.71444516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.06, Y:-0.31, Z:0.37 [[ 9.99084350e-01 -3.78962434e-02 -1.98579255e-02 1.94057296e+02] [ 3.78786829e-02 9.99281551e-01 -1.25982608e-03 -3.10384620e-01] [ 1.98914013e-02 5.06480452e-04 9.99802018e-01 3.74241869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:-0.30, Z:0.37 [[ 9.98986016e-01 -4.04055523e-02 -1.98577612e-02 1.94116067e+02] [ 4.03884359e-02 9.99183257e-01 -1.26241052e-03 -3.04203607e-01] [ 1.98925509e-02 4.59106538e-04 9.99802018e-01 3.73040949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622320588 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:194.17, Y:-0.30, Z:0.39 [[ 9.98923785e-01 -4.19159640e-02 -1.98575966e-02 1.94173710e+02] [ 4.18990945e-02 9.99121047e-01 -1.26499494e-03 -2.95140372e-01] [ 1.98931662e-02 4.31618214e-04 9.99802018e-01 3.85608129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.23, Y:-0.28, Z:0.38 [[ 9.98813694e-01 -4.44622497e-02 -1.98573324e-02 1.94232625e+02] [ 4.44458009e-02 9.99010991e-01 -1.26912947e-03 -2.84411472e-01] [ 1.98941216e-02 3.85048849e-04 9.99802018e-01 3.76829367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.29, Y:-0.28, Z:0.38 [[ 9.98699393e-01 -4.69597126e-02 -1.98572099e-02 1.94291037e+02] [ 4.69437192e-02 9.98896727e-01 -1.27104315e-03 -2.78874860e-01] [ 1.98949898e-02 3.37218738e-04 9.99802018e-01 3.77245933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.35, Y:-0.27, Z:0.38 [[ 9.98449182e-01 -5.20089381e-02 -1.98570460e-02 1.94349867e+02] [ 5.19938919e-02 9.98646591e-01 -1.27359771e-03 -2.71177805e-01] [ 1.98964098e-02 2.39177490e-04 9.99802018e-01 3.77154535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:194.41, Y:-0.26, Z:0.38 [[ 9.98420456e-01 -5.25575608e-02 -1.98568819e-02 1.94408408e+02] [ 5.25425723e-02 9.98617870e-01 -1.27615179e-03 -2.63010767e-01] [ 1.98965085e-02 2.30804396e-04 9.99802018e-01 3.78782701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.47, Y:-0.26, Z:0.38 [[ 9.98318455e-01 -5.44607413e-02 -1.98567185e-02 1.94466828e+02] [ 5.44460787e-02 9.98515893e-01 -1.27868953e-03 -2.58879504e-01] [ 1.98968873e-02 1.95418898e-04 9.99802018e-01 3.80942267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:-0.26, Z:0.38 [[ 9.98141712e-01 -5.76093821e-02 -1.98565544e-02 1.94525917e+02] [ 5.75952917e-02 9.98339191e-01 -1.28123154e-03 -2.55977202e-01] [ 1.98973875e-02 1.35206593e-04 9.99802018e-01 3.79499673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:194.58, Y:-0.25, Z:0.38 [[ 9.97869061e-01 -6.21535272e-02 -1.98563894e-02 1.94584771e+02] [ 6.21402854e-02 9.98066599e-01 -1.28378361e-03 -2.51098324e-01] [ 1.98977908e-02 4.71662420e-05 9.99802018e-01 3.80778183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:-0.25, Z:0.38 [[ 9.97588840e-01 -6.64998933e-02 -1.98562257e-02 1.94644854e+02] [ 6.64874618e-02 9.97786431e-01 -1.28631086e-03 -2.53725171e-01] [ 1.98978121e-02 -3.69806929e-05 9.99802018e-01 3.82062758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:-0.25, Z:0.38 [[ 9.97514340e-01 -6.76082443e-02 -1.98561440e-02 1.94706019e+02] [ 6.75960073e-02 9.97711943e-01 -1.28757131e-03 -2.54806046e-01] [ 1.98977624e-02 -5.78252034e-05 9.99802018e-01 3.83314621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.77, Y:-0.25, Z:0.39 [[ 9.97635985e-01 -6.57888642e-02 -1.98561440e-02 1.94766207e+02] [ 6.57762668e-02 9.97833566e-01 -1.28757131e-03 -2.54354858e-01] [ 1.98978348e-02 -2.15355476e-05 9.99802018e-01 3.85161815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.83, Y:-0.26, Z:0.39 [[ 9.97941250e-01 -6.09835896e-02 -1.98560622e-02 1.94826072e+02] [ 6.09700158e-02 9.98138766e-01 -1.28883082e-03 -2.55625087e-01] [ 1.98977030e-02 7.55530177e-05 9.99802018e-01 3.86790317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:194.88, Y:-0.25, Z:0.40 [[ 9.98300310e-01 -5.47926158e-02 -1.98559798e-02 1.94884611e+02] [ 5.47777919e-02 9.98497736e-01 -1.29009955e-03 -2.54497366e-01] [ 1.98968388e-02 2.00240053e-04 9.99802018e-01 4.00336954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.94, Y:-0.25, Z:0.39 [[ 9.98433130e-01 -5.23166513e-02 -1.98558155e-02 1.94943182e+02] [ 5.23012876e-02 9.98630514e-01 -1.29262296e-03 -2.48554259e-01] [ 1.98962490e-02 2.52112868e-04 9.99802018e-01 3.88156700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:195.00, Y:-0.25, Z:0.41 [[ 9.98446304e-01 -5.20646900e-02 -1.98556539e-02 1.95001335e+02] [ 5.20492273e-02 9.98643681e-01 -1.29510011e-03 -2.45733332e-01] [ 1.98961523e-02 2.59616470e-04 9.99802018e-01 4.06281859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:-0.24, Z:0.40 [[ 9.98676057e-01 -4.74541047e-02 -1.98554875e-02 1.95060158e+02] [ 4.74376802e-02 9.98873357e-01 -1.29764628e-03 -2.44049662e-01] [ 1.98946961e-02 3.54030006e-04 9.99802018e-01 3.95119941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.12, Y:-0.24, Z:0.39 [[ 9.98612047e-01 -4.87826293e-02 -1.98553653e-02 1.95118777e+02] [ 4.87664302e-02 9.98809364e-01 -1.29951429e-03 -2.37784027e-01] [ 1.98951185e-02 3.29435343e-04 9.99802018e-01 3.91973736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.18, Y:-0.23, Z:0.39 [[ 9.98613458e-01 -4.87538052e-02 -1.98551966e-02 1.95177375e+02] [ 4.87375492e-02 9.98810771e-01 -1.30208711e-03 -2.31025442e-01] [ 1.98950659e-02 3.32588089e-04 9.99802018e-01 3.94089579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.24, Y:-0.23, Z:0.40 [[ 9.98557891e-01 -4.98790093e-02 -1.98550278e-02 1.95236544e+02] [ 4.98629247e-02 9.98755219e-01 -1.30465598e-03 -2.30396294e-01] [ 1.98953875e-02 3.12744771e-04 9.99802018e-01 3.97029276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:-0.23, Z:0.41 [[ 9.98421099e-01 -5.25461188e-02 -1.98548577e-02 1.95295063e+02] [ 5.25305099e-02 9.98618464e-01 -1.30723956e-03 -2.27195352e-01] [ 1.98961178e-02 2.62189765e-04 9.99802018e-01 4.09504867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.35, Y:-0.22, Z:0.39 [[ 9.98169273e-01 -5.71304983e-02 -1.98546866e-02 1.95354432e+02] [ 5.71157444e-02 9.98366704e-01 -1.30983204e-03 -2.22076629e-01] [ 1.98970894e-02 1.73418886e-04 9.99802018e-01 3.94963507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.41, Y:-0.22, Z:0.40 [[ 9.98106918e-01 -5.82097821e-02 -1.98545196e-02 1.95412722e+02] [ 5.81951913e-02 9.98304361e-01 -1.31235906e-03 -2.15091840e-01] [ 1.98972456e-02 1.54437094e-04 9.99802018e-01 3.99120770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.47, Y:-0.21, Z:0.40 [[ 9.97985034e-01 -6.02634010e-02 -1.98543506e-02 1.95471249e+02] [ 6.02491658e-02 9.98182503e-01 -1.31491134e-03 -2.14205147e-01] [ 1.98975064e-02 1.16053784e-04 9.99802018e-01 3.99745837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:195.53, Y:-0.22, Z:0.40 [[ 9.97697903e-01 -6.48436972e-02 -1.98541815e-02 1.95530768e+02] [ 6.48303179e-02 9.97895432e-01 -1.31745928e-03 -2.15066370e-01] [ 1.98978260e-02 2.72734634e-05 9.99802018e-01 3.99091649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.59, Y:-0.21, Z:0.40 [[ 9.97197731e-01 -7.21283664e-02 -1.98540539e-02 1.95590866e+02] [ 7.21163918e-02 9.97395351e-01 -1.31937917e-03 -2.14639828e-01] [ 1.98975057e-02 -1.16120811e-04 9.99802018e-01 4.02911026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:-0.22, Z:0.40 [[ 9.97057637e-01 -7.40397805e-02 -1.98539694e-02 1.95651297e+02] [ 7.40281594e-02 9.97255277e-01 -1.32064968e-03 -2.17413055e-01] [ 1.98972564e-02 -1.52988959e-04 9.99802018e-01 4.03204294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.71, Y:-0.22, Z:0.41 [[ 9.97052524e-01 -7.41086196e-02 -1.98538848e-02 1.95712007e+02] [ 7.40969869e-02 9.97250164e-01 -1.32192019e-03 -2.17206993e-01] [ 1.98972556e-02 -1.53089181e-04 9.99802018e-01 4.05163812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24232058799998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:195.77, Y:-0.22, Z:0.43 [[ 9.96960768e-01 -7.53329282e-02 -1.98538848e-02 1.95772092e+02] [ 7.53215382e-02 9.97158422e-01 -1.32192019e-03 -2.19860633e-01] [ 1.98970526e-02 -1.77522576e-04 9.99802018e-01 4.26629450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.83, Y:-0.22, Z:0.41 [[ 9.97323604e-01 -7.03665787e-02 -1.98538123e-02 1.95833443e+02] [ 7.03541827e-02 9.97521197e-01 -1.32300838e-03 -2.24830072e-01] [ 1.98976942e-02 -7.73312492e-05 9.99802018e-01 4.07810417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:-0.23, Z:0.41 [[ 9.97382376e-01 -6.95285751e-02 -1.98538123e-02 1.95892220e+02] [ 6.95160131e-02 9.97579958e-01 -1.32300838e-03 -2.26887931e-01] [ 1.98977521e-02 -6.06126317e-05 9.99802018e-01 4.08319742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:-0.23, Z:0.41 [[ 9.97685328e-01 -6.50370569e-02 -1.98536439e-02 1.95950811e+02] [ 6.50235552e-02 9.97882849e-01 -1.32553106e-03 -2.28992231e-01] [ 1.98978193e-02 3.15083818e-05 9.99802018e-01 4.09132435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.01, Y:-0.23, Z:0.41 [[ 9.98097717e-01 -5.83676808e-02 -1.98534735e-02 1.96009471e+02] [ 5.83528087e-02 9.98295140e-01 -1.32807844e-03 -2.26728069e-01] [ 1.98971429e-02 1.67046117e-04 9.99802018e-01 4.12332677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.07, Y:-0.22, Z:0.41 [[ 9.98351467e-01 -5.38534542e-02 -1.98533033e-02 1.96067775e+02] [ 5.38376389e-02 9.98548816e-01 -1.33061765e-03 -2.21266013e-01] [ 1.98961508e-02 2.59569112e-04 9.99802018e-01 4.13422971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.13, Y:-0.22, Z:0.41 [[ 9.98705113e-01 -4.68396218e-02 -1.98531321e-02 1.96125433e+02] [ 4.68223700e-02 9.98902342e-01 -1.33316738e-03 -2.16409068e-01] [ 1.98937852e-02 4.01870382e-04 9.99802018e-01 4.12205928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.18, Y:-0.21, Z:0.41 [[ 9.98811897e-01 -4.45045746e-02 -1.98528755e-02 1.96184017e+02] [ 4.44867861e-02 9.99009078e-01 -1.33697642e-03 -2.11784182e-01] [ 1.98927045e-02 4.52197322e-04 9.99802018e-01 4.14548298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:196.24, Y:-0.20, Z:0.43 [[ 9.98903102e-01 -4.24082978e-02 -1.98527027e-02 1.96241802e+02] [ 4.23900447e-02 9.99100240e-01 -1.33953866e-03 -2.02780453e-01] [ 1.98916475e-02 4.96512366e-04 9.99802018e-01 4.34760689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.30, Y:-0.19, Z:0.42 [[ 9.98955628e-01 -4.11525237e-02 -1.98525280e-02 1.96300807e+02] [ 4.11339714e-02 9.99152739e-01 -1.34212242e-03 -1.92931233e-01] [ 1.98909394e-02 5.24107422e-04 9.99802018e-01 4.16904619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.36, Y:-0.18, Z:0.42 [[ 9.98943983e-01 -4.14343184e-02 -1.98523528e-02 1.96359251e+02] [ 4.14157704e-02 9.99141094e-01 -1.34470814e-03 -1.84769414e-01] [ 1.98910186e-02 5.21087615e-04 9.99802018e-01 4.17165992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:196.42, Y:-0.17, Z:0.42 [[ 9.98801931e-01 -4.47280013e-02 -1.98521795e-02 1.96417360e+02] [ 4.47100526e-02 9.98999097e-01 -1.34726160e-03 -1.74918984e-01] [ 1.98925698e-02 4.58055499e-04 9.99802018e-01 4.19079666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.48, Y:-0.17, Z:0.42 [[ 9.98352805e-01 -5.38291289e-02 -1.98520048e-02 1.96475644e+02] [ 5.38129267e-02 9.98550122e-01 -1.34983204e-03 -1.71016537e-01] [ 1.98958821e-02 2.79314128e-04 9.99802018e-01 4.20852872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.53, Y:-0.17, Z:0.42 [[ 9.97954486e-01 -6.07679865e-02 -1.98518289e-02 1.96534609e+02] [ 6.07531051e-02 9.98151908e-01 -1.35241326e-03 -1.66155430e-01] [ 1.98973243e-02 1.43586627e-04 9.99802018e-01 4.20968948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:-0.17, Z:0.42 [[ 9.97352791e-01 -6.99522821e-02 -1.98516519e-02 1.96593824e+02] [ 6.99391671e-02 9.97550338e-01 -1.35500733e-03 -1.66858368e-01] [ 1.98978079e-02 -3.69876572e-05 9.99802018e-01 4.22600190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.65, Y:-0.17, Z:0.42 [[ 9.96906505e-01 -7.60482748e-02 -1.98514766e-02 1.96653697e+02] [ 7.60363167e-02 9.97104125e-01 -1.35756941e-03 -1.70040368e-01] [ 1.98972301e-02 -1.56063391e-04 9.99802018e-01 4.24353331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.71, Y:-0.17, Z:0.42 [[ 9.96765204e-01 -7.78784277e-02 -1.98513898e-02 1.96713638e+02] [ 7.78668072e-02 9.96962845e-01 -1.35883784e-03 -1.70879948e-01] [ 1.98969222e-02 -1.91322064e-04 9.99802018e-01 4.24952740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.77, Y:-0.17, Z:0.43 [[ 9.96713943e-01 -7.85317916e-02 -1.98513033e-02 1.96774077e+02] [ 7.85202755e-02 9.96911589e-01 -1.36010128e-03 -1.74949086e-01] [ 1.98968055e-02 -2.03097889e-04 9.99802018e-01 4.25714006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:196.83, Y:-0.18, Z:0.45 [[ 9.96785739e-01 -7.76152000e-02 -1.98512176e-02 1.96833885e+02] [ 7.76034772e-02 9.96983374e-01 -1.36135047e-03 -1.76759829e-01] [ 1.98969954e-02 -1.83548774e-04 9.99802018e-01 4.45570033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:-0.18, Z:0.45 [[ 9.97316400e-01 -7.04693519e-02 -1.98511748e-02 1.96893595e+02] [ 7.04562006e-02 9.97513944e-01 -1.36197477e-03 -1.76108644e-01] [ 1.98978011e-02 -4.03185747e-05 9.99802018e-01 4.47773947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:196.95, Y:-0.18, Z:0.43 [[ 9.97662728e-01 -6.53835971e-02 -1.98510874e-02 1.96952910e+02] [ 6.53694136e-02 9.97860201e-01 -1.36324629e-03 -1.75510173e-01] [ 1.98977441e-02 6.24060680e-05 9.99802018e-01 4.27128437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.01, Y:-0.17, Z:0.43 [[ 9.97975148e-01 -6.04280032e-02 -1.98509584e-02 1.97012065e+02] [ 6.04128017e-02 9.98172545e-01 -1.36512254e-03 -1.72598704e-01] [ 1.98971733e-02 1.63106354e-04 9.99802018e-01 4.28297155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.07, Y:-0.17, Z:0.43 [[ 9.98412688e-01 -5.27072207e-02 -1.98507816e-02 1.97070272e+02] [ 5.26904419e-02 9.98609957e-01 -1.36768843e-03 -1.66346147e-01] [ 1.98952753e-02 3.19571030e-04 9.99802018e-01 4.29074514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622320588 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:197.13, Y:-0.16, Z:0.45 [[ 9.98671961e-01 -4.75422725e-02 -1.98506037e-02 1.97129362e+02] [ 4.75244224e-02 9.98869136e-01 -1.37026554e-03 -1.56187163e-01] [ 1.98933009e-02 4.25057295e-04 9.99802018e-01 4.50547932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.19, Y:-0.15, Z:0.43 [[ 9.98765944e-01 -4.55252143e-02 -1.98505590e-02 1.97189427e+02] [ 4.55069532e-02 9.98963081e-01 -1.37091315e-03 -1.50707470e-01] [ 1.98923867e-02 4.65882910e-04 9.99802018e-01 4.31761985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.25, Y:-0.14, Z:0.43 [[ 9.98792130e-01 -4.49470781e-02 -1.98504683e-02 1.97247184e+02] [ 4.49286767e-02 9.98989255e-01 -1.37222556e-03 -1.37498246e-01] [ 1.98920820e-02 4.78712819e-04 9.99802018e-01 4.33738034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.802320588 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:-0.13, Z:0.45 [[ 9.98766342e-01 -4.55165966e-02 -1.98502870e-02 1.97306754e+02] [ 4.54982556e-02 9.98963472e-01 -1.37484357e-03 -1.32280418e-01] [ 1.98922898e-02 4.69994054e-04 9.99802018e-01 4.54950055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:-0.12, Z:0.44 [[ 9.98688831e-01 -4.71867300e-02 -1.98502417e-02 1.97366538e+02] [ 4.71687057e-02 9.98885990e-01 -1.37549605e-03 -1.24973004e-01] [ 1.98930335e-02 4.37382335e-04 9.99802018e-01 4.35563965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.42, Y:-0.12, Z:0.44 [[ 9.98624823e-01 -4.85224977e-02 -1.98501952e-02 1.97424537e+02] [ 4.85047239e-02 9.98822005e-01 -1.37616739e-03 -1.15117139e-01] [ 1.98935869e-02 4.11446681e-04 9.99802018e-01 4.36574990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.48, Y:-0.10, Z:0.44 [[ 9.98647485e-01 -4.80539083e-02 -1.98500139e-02 1.97482510e+02] [ 4.80359900e-02 9.98844654e-01 -1.37877830e-03 -1.03809266e-01] [ 1.98933359e-02 4.23398413e-04 9.99802018e-01 4.38770888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.54, Y:-0.10, Z:0.44 [[ 9.98620010e-01 -4.86215964e-02 -1.98498326e-02 1.97540618e+02] [ 4.86037385e-02 9.98817185e-01 -1.38138264e-03 -9.76936662e-02] [ 1.98935190e-02 4.14700273e-04 9.99802018e-01 4.38999404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:-0.09, Z:0.44 [[ 9.98633840e-01 -4.83367841e-02 -1.98496460e-02 1.97598906e+02] [ 4.83188168e-02 9.98831005e-01 -1.38405864e-03 -9.06429993e-02] [ 1.98933428e-02 4.23056384e-04 9.99802018e-01 4.41003969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:197.66, Y:-0.07, Z:0.46 [[ 9.98808247e-01 -4.45879487e-02 -1.98494674e-02 1.97656287e+02] [ 4.45691906e-02 9.99005338e-01 -1.38661610e-03 -7.46985767e-02] [ 1.98915502e-02 5.00288905e-04 9.99802018e-01 4.55811933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:-0.07, Z:0.44 [[ 9.98871465e-01 -4.31486020e-02 -1.98492875e-02 1.97714583e+02] [ 4.31295089e-02 9.99068524e-01 -1.38918666e-03 -6.55261736e-02] [ 1.98907398e-02 5.31528899e-04 9.99802018e-01 4.41946716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:197.77, Y:-0.06, Z:0.46 [[ 9.98898498e-01 -4.25182759e-02 -1.98491087e-02 1.97772390e+02] [ 4.24990079e-02 9.99095540e-01 -1.39173587e-03 -5.80209501e-02] [ 1.98903302e-02 5.46635447e-04 9.99802018e-01 4.60837396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.83, Y:-0.05, Z:0.45 [[ 9.98717267e-01 -4.65815393e-02 -1.98489274e-02 1.97831601e+02] [ 4.65630217e-02 9.98914381e-01 -1.39431671e-03 -4.90004454e-02] [ 1.98923285e-02 4.68302135e-04 9.99802018e-01 4.45453301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.89, Y:-0.04, Z:0.45 [[ 9.98675112e-01 -4.74767856e-02 -1.98488349e-02 1.97889368e+02] [ 4.74584185e-02 9.98872239e-01 -1.39563214e-03 -3.84140334e-02] [ 1.98927103e-02 4.51788768e-04 9.99802018e-01 4.47645830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:197.95, Y:-0.02, Z:0.45 [[ 9.98814883e-01 -4.44393940e-02 -1.98486527e-02 1.97946797e+02] [ 4.44203762e-02 9.99011949e-01 -1.39821936e-03 -2.44468022e-02] [ 1.98911772e-02 5.14877693e-04 9.99802018e-01 4.49517202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.00, Y:-0.01, Z:0.45 [[ 9.98934972e-01 -4.16528668e-02 -1.98484278e-02 1.98004685e+02] [ 4.16332361e-02 9.99131978e-01 -1.40140380e-03 -9.96014094e-03] [ 1.98895715e-02 5.73556983e-04 9.99802018e-01 4.49947669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.06, Y:0.00, Z:0.45 [[ 9.98920088e-01 -4.20083990e-02 -1.98482477e-02 1.98062457e+02] [ 4.19887878e-02 9.99117096e-01 -1.40395097e-03 9.57921253e-04] [ 1.98897013e-02 5.69030968e-04 9.99802018e-01 4.50188790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.642320588 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:198.12, Y:0.02, Z:0.47 [[ 9.98476881e-01 -5.14778807e-02 -1.98480651e-02 1.98120418e+02] [ 5.14600872e-02 9.98674061e-01 -1.40652775e-03 1.91487146e-02] [ 1.98941528e-02 3.83002278e-04 9.99802018e-01 4.74495806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:0.03, Z:0.45 [[ 9.98411968e-01 -5.27219065e-02 -1.98479746e-02 1.98180425e+02] [ 5.27043333e-02 9.98609168e-01 -1.40780338e-03 2.56543965e-02] [ 1.98945915e-02 3.59493474e-04 9.99802018e-01 4.54363816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:198.24, Y:0.04, Z:0.46 [[ 9.98135043e-01 -5.77277819e-02 -1.98478843e-02 1.98239052e+02] [ 5.77111726e-02 9.98332327e-01 -1.40907469e-03 4.17734198e-02] [ 1.98961273e-02 2.61002148e-04 9.99802018e-01 4.55669348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:0.05, Z:0.46 [[ 9.97861670e-01 -6.22748153e-02 -1.98477941e-02 1.98299284e+02] [ 6.22590797e-02 9.98059025e-01 -1.41034408e-03 5.04145893e-02] [ 1.98970990e-02 1.71622901e-04 9.99802018e-01 4.55612041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:0.05, Z:0.46 [[ 9.97219023e-01 -7.18351242e-02 -1.98477941e-02 1.98361046e+02] [ 7.18212807e-02 9.97416520e-01 -1.41034408e-03 5.39684589e-02] [ 1.98978300e-02 -1.90720500e-05 9.99802018e-01 4.55822441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.42, Y:0.06, Z:0.46 [[ 9.96621492e-01 -7.96971934e-02 -1.98484222e-02 1.98424442e+02] [ 7.96850850e-02 9.96819103e-01 -1.40144820e-03 5.90759611e-02] [ 1.98969779e-02 -1.84909815e-04 9.99802018e-01 4.56705494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.49, Y:0.07, Z:0.46 [[ 9.96179795e-01 -8.50401592e-02 -1.98491269e-02 1.98487280e+02] [ 8.50293109e-02 9.96377479e-01 -1.39139662e-03 6.62531831e-02] [ 1.98955476e-02 -3.01676381e-04 9.99802018e-01 4.59330837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:0.07, Z:0.48 [[ 9.95987310e-01 -8.72654793e-02 -1.98498081e-02 1.98548889e+02] [ 8.72552676e-02 9.96185028e-01 -1.38160928e-03 6.86343480e-02] [ 1.98946484e-02 -3.55935008e-04 9.99802019e-01 4.78987079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.61, Y:0.07, Z:0.46 [[ 9.96250672e-01 -8.42055723e-02 -1.98499343e-02 1.98611116e+02] [ 8.41947894e-02 9.96448360e-01 -1.37979375e-03 7.00571206e-02] [ 1.98956208e-02 -2.96640582e-04 9.99802019e-01 4.61845406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.67, Y:0.07, Z:0.46 [[ 9.96139301e-01 -8.55128778e-02 -1.98504768e-02 1.98672935e+02] [ 8.55025108e-02 9.96337010e-01 -1.37194429e-03 7.31657053e-02] [ 1.98950836e-02 -3.30617979e-04 9.99802019e-01 4.63036898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.74, Y:0.07, Z:0.46 [[ 9.95881221e-01 -8.84676692e-02 -1.98510567e-02 1.98735572e+02] [ 8.84580570e-02 9.96078969e-01 -1.36350144e-03 7.46171000e-02] [ 1.98938459e-02 -3.98100426e-04 9.99802019e-01 4.64330926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.80, Y:0.07, Z:0.46 [[ 9.95857541e-01 -8.87337104e-02 -1.98516308e-02 1.98798669e+02] [ 8.87243186e-02 9.96055299e-01 -1.35509091e-03 7.47136316e-02] [ 1.98935643e-02 -4.11844914e-04 9.99802019e-01 4.63947800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:198.86, Y:0.07, Z:0.48 [[ 9.95623524e-01 -9.13218791e-02 -1.98522798e-02 1.98861079e+02] [ 9.13131922e-02 9.95821315e-01 -1.34551540e-03 7.34246049e-02] [ 1.98921984e-02 -4.73148261e-04 9.99802019e-01 4.83217587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.92, Y:0.07, Z:0.47 [[ 9.96514871e-01 -8.10183683e-02 -1.98528439e-02 1.98923203e+02] [ 8.10078028e-02 9.96712570e-01 -1.33713987e-03 7.37103189e-02] [ 1.98959120e-02 -2.75755500e-04 9.99802019e-01 4.67508809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.99, Y:0.07, Z:0.47 [[ 9.96964200e-01 -7.52876265e-02 -1.98533696e-02 1.98985792e+02] [ 7.52760808e-02 9.97161845e-01 -1.32928926e-03 7.25687512e-02] [ 1.98971017e-02 -1.69230044e-04 9.99802019e-01 4.65392754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.05, Y:0.07, Z:0.47 [[ 9.97202514e-01 -7.20622472e-02 -1.98539372e-02 1.99048144e+02] [ 7.20502320e-02 9.97400130e-01 -1.32075614e-03 7.27061835e-02] [ 1.98974962e-02 -1.13419437e-04 9.99802019e-01 4.66819584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:199.11, Y:0.08, Z:0.49 [[ 9.97234636e-01 -7.16161974e-02 -1.98545074e-02 1.99109625e+02] [ 7.16042656e-02 9.97432257e-01 -1.31212832e-03 7.79411126e-02] [ 1.98974958e-02 -1.13167615e-04 9.99802019e-01 4.90351633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.17, Y:0.08, Z:0.47 [[ 9.97804545e-01 -6.31812088e-02 -1.98550824e-02 1.99172061e+02] [ 6.31677807e-02 9.98002070e-01 -1.30336876e-03 8.47478065e-02] [ 1.98977618e-02 4.63057810e-05 9.99802019e-01 4.72034698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:199.23, Y:0.08, Z:0.49 [[ 9.97999827e-01 -6.00174920e-02 -1.98556462e-02 1.99232078e+02] [ 6.00036097e-02 9.98197320e-01 -1.29472334e-03 8.49351148e-02] [ 1.98975588e-02 1.00723224e-04 9.99802019e-01 4.87835064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.29, Y:0.09, Z:0.47 [[ 9.98031271e-01 -5.94923071e-02 -1.98556462e-02 1.99291937e+02] [ 5.94783210e-02 9.98228758e-01 -1.29472334e-03 9.11020282e-02] [ 1.98975031e-02 1.11193884e-04 9.99802019e-01 4.74288659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.35, Y:0.10, Z:0.48 [[ 9.98098319e-01 -5.83566730e-02 -1.98555646e-02 1.99351164e+02] [ 5.83424372e-02 9.98295788e-01 -1.29597280e-03 9.86401320e-02] [ 1.98973552e-02 1.35086244e-04 9.99802019e-01 4.76175240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.41, Y:0.10, Z:0.48 [[ 9.98061788e-01 -5.89781868e-02 -1.98554822e-02 1.99410957e+02] [ 5.89640489e-02 9.98259264e-01 -1.29723439e-03 1.01638963e-01] [ 1.98974276e-02 1.23960451e-04 9.99802019e-01 4.76915845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.47, Y:0.10, Z:0.48 [[ 9.97840259e-01 -6.26145362e-02 -1.98554003e-02 1.99471062e+02] [ 6.26010931e-02 9.98037783e-01 -1.29848663e-03 1.03500733e-01] [ 1.98977438e-02 5.27124711e-05 9.99802019e-01 4.77842282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.53, Y:0.11, Z:0.48 [[ 9.97554558e-01 -6.70124347e-02 -1.98554003e-02 1.99531554e+02] [ 6.69998624e-02 9.97752140e-01 -1.29848663e-03 1.05149226e-01] [ 1.98977829e-02 -3.49978334e-05 9.99802019e-01 4.80319912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.59, Y:0.11, Z:0.48 [[ 9.97279187e-01 -7.09928607e-02 -1.98554003e-02 1.99593194e+02] [ 7.09810770e-02 9.97476817e-01 -1.29848663e-03 1.05457663e-01] [ 1.98974848e-02 -1.14404009e-04 9.99802019e-01 4.83083251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.66, Y:0.11, Z:0.48 [[ 9.97184139e-01 -7.23156494e-02 -1.98554810e-02 1.99655580e+02] [ 7.23041525e-02 9.97381786e-01 -1.29725096e-03 1.06539258e-01] [ 1.98973067e-02 -1.42035645e-04 9.99802019e-01 4.83771995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.72, Y:0.10, Z:0.48 [[ 9.97136464e-01 -7.29699222e-02 -1.98560412e-02 1.99717400e+02] [ 7.29587268e-02 9.97334128e-01 -1.28861908e-03 1.01134157e-01] [ 1.98971380e-02 -1.63742411e-04 9.99802019e-01 4.83129138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.78, Y:0.10, Z:0.48 [[ 9.97477997e-01 -6.81423475e-02 -1.98561215e-02 1.99779233e+02] [ 6.81302201e-02 9.97675606e-01 -1.28738043e-03 1.02970769e-01] [ 1.98976932e-02 -6.86682750e-05 9.99802019e-01 4.82633088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.84, Y:0.11, Z:0.48 [[ 9.97795675e-01 -6.33207263e-02 -1.98564232e-02 1.99839799e+02] [ 6.33077369e-02 9.97993229e-01 -1.28271122e-03 1.07673034e-01] [ 1.98977981e-02 2.28184974e-05 9.99802019e-01 4.83389721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.90, Y:0.11, Z:0.49 [[ 9.98136729e-01 -5.76956824e-02 -1.98564232e-02 1.99899504e+02] [ 5.76815797e-02 9.98334208e-01 -1.28271122e-03 1.11125245e-01] [ 1.98973534e-02 1.34971329e-04 9.99802019e-01 4.85574399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.96, Y:0.11, Z:0.49 [[ 9.98145928e-01 -5.75363497e-02 -1.98563424e-02 1.99958083e+02] [ 5.75221906e-02 9.98343402e-01 -1.28395959e-03 1.14688404e-01] [ 1.98973228e-02 1.39398718e-04 9.99802019e-01 4.86419186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.02, Y:0.11, Z:0.49 [[ 9.98172504e-01 -5.70735003e-02 -1.98561794e-02 2.00016797e+02] [ 5.70591996e-02 9.98369968e-01 -1.28647648e-03 1.14434982e-01] [ 1.98972369e-02 1.51147743e-04 9.99802019e-01 4.87251529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:0.12, Z:0.49 [[ 9.98217951e-01 -5.62731001e-02 -1.98560155e-02 2.00075270e+02] [ 5.62585909e-02 9.98415399e-01 -1.28899991e-03 1.21712240e-01] [ 1.98970877e-02 1.69631394e-04 9.99802019e-01 4.89139823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.13, Y:0.12, Z:0.49 [[ 9.98081668e-01 -5.86406750e-02 -1.98558530e-02 2.00134375e+02] [ 5.86265844e-02 9.98279147e-01 -1.29149906e-03 1.23650574e-01] [ 1.98974184e-02 1.24940697e-04 9.99802019e-01 4.89010549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.19, Y:0.12, Z:0.49 [[ 9.97713371e-01 -6.46048024e-02 -1.98556894e-02 2.00193734e+02] [ 6.45918424e-02 9.97910928e-01 -1.29400981e-03 1.20696504e-01] [ 1.98978086e-02 8.53533411e-06 9.99802019e-01 4.86941601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.25, Y:0.12, Z:0.49 [[ 9.97503408e-01 -6.77695357e-02 -1.98555234e-02 2.00253018e+02] [ 6.77571519e-02 9.97701001e-01 -1.29655123e-03 1.21293106e-01] [ 1.98977423e-02 -5.20394497e-05 9.99802019e-01 4.88489765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.31, Y:0.13, Z:0.49 [[ 9.97350475e-01 -6.99842267e-02 -1.98554406e-02 2.00313013e+02] [ 6.99722564e-02 9.97548094e-01 -1.29781896e-03 1.25744397e-01] [ 1.98975837e-02 -9.49496185e-05 9.99802019e-01 4.94102545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.862320588 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:200.37, Y:0.13, Z:0.52 [[ 9.96883146e-01 -7.63528308e-02 -1.98554406e-02 2.00372907e+02] [ 7.63421230e-02 9.97080837e-01 -1.29781896e-03 1.26300427e-01] [ 1.98965714e-02 -2.22032633e-04 9.99802019e-01 5.17645058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.43, Y:0.13, Z:0.49 [[ 9.97246707e-01 -7.14476444e-02 -1.98554406e-02 2.00434696e+02] [ 7.14359641e-02 9.97444344e-01 -1.29781896e-03 1.26341738e-01] [ 1.98974230e-02 -1.24146850e-04 9.99802019e-01 4.93308343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.50, Y:0.13, Z:0.50 [[ 9.97093730e-01 -7.35516937e-02 -1.98555209e-02 2.00495151e+02] [ 7.35404550e-02 9.97291392e-01 -1.29658824e-03 1.29125531e-01] [ 1.98971064e-02 -1.67364035e-04 9.99802019e-01 4.95900416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.56, Y:0.13, Z:0.50 [[ 9.97014413e-01 -7.46191603e-02 -1.98555209e-02 2.00555657e+02] [ 7.46081332e-02 9.97212086e-01 -1.29658824e-03 1.30904101e-01] [ 1.98969158e-02 -1.88666184e-04 9.99802019e-01 4.97207145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.62, Y:0.13, Z:0.50 [[ 9.96910938e-01 -7.59890793e-02 -1.98555209e-02 2.00616744e+02] [ 7.59783238e-02 9.97108627e-01 -1.29658824e-03 1.30470780e-01] [ 1.98966377e-02 -2.16006196e-04 9.99802019e-01 4.97368280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:200.68, Y:0.13, Z:0.50 [[ 9.96942115e-01 -7.55789463e-02 -1.98555209e-02 2.00677587e+02] [ 7.55681095e-02 9.97139799e-01 -1.29658824e-03 1.33067918e-01] [ 1.98967249e-02 -2.07820754e-04 9.99802019e-01 4.98470095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.74, Y:0.13, Z:0.50 [[ 9.96891994e-01 -7.62371964e-02 -1.98555209e-02 2.00738548e+02] [ 7.62264901e-02 9.97089686e-01 -1.29658824e-03 1.34757714e-01] [ 1.98965834e-02 -2.20958230e-04 9.99802019e-01 4.98697557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.80, Y:0.14, Z:0.50 [[ 9.96720414e-01 -7.84485525e-02 -1.98555209e-02 2.00799365e+02] [ 7.84382848e-02 9.96918128e-01 -1.29658824e-03 1.35018462e-01] [ 1.98960442e-02 -2.65097035e-04 9.99802019e-01 4.98841872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.86, Y:0.13, Z:0.50 [[ 9.96599455e-01 -7.99705217e-02 -1.98555209e-02 2.00860505e+02] [ 7.99605559e-02 9.96797185e-01 -1.29658824e-03 1.31572798e-01] [ 1.98956162e-02 -2.95479354e-04 9.99802019e-01 5.01893546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:200.92, Y:0.13, Z:0.52 [[ 9.96432801e-01 -8.20209157e-02 -1.98555209e-02 2.00920890e+02] [ 8.20113568e-02 9.96630552e-01 -1.29658824e-03 1.26639236e-01] [ 1.98949661e-02 -3.36415156e-04 9.99802019e-01 5.19325369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.98, Y:0.13, Z:0.50 [[ 9.96524750e-01 -8.08961176e-02 -1.98555209e-02 2.00981840e+02] [ 8.08863355e-02 9.96722489e-01 -1.29658824e-03 1.29029104e-01] [ 1.98953332e-02 -3.13958053e-04 9.99802019e-01 5.04052757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.04, Y:0.12, Z:0.51 [[ 9.96562675e-01 -8.04275640e-02 -1.98555209e-02 2.01041754e+02] [ 8.04176889e-02 9.96760410e-01 -1.29658824e-03 1.23139976e-01] [ 1.98954786e-02 -3.04603657e-04 9.99802019e-01 5.05247494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.10, Y:0.12, Z:0.51 [[ 9.96535763e-01 -8.07603540e-02 -1.98554404e-02 2.01101835e+02] [ 8.07505204e-02 9.96733500e-01 -1.29782084e-03 1.23122680e-01] [ 1.98953950e-02 -3.10012262e-04 9.99802019e-01 5.06838866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.16, Y:0.12, Z:0.51 [[ 9.96515487e-01 -8.10101811e-02 -1.98553604e-02 2.01160845e+02] [ 8.10003727e-02 9.96713225e-01 -1.29904295e-03 1.16719705e-01] [ 1.98953360e-02 -3.13775177e-04 9.99802019e-01 5.05580569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:0.11, Z:0.53 [[ 9.96575719e-01 -8.02658487e-02 -1.98551997e-02 2.01221007e+02] [ 8.02558438e-02 9.96773448e-01 -1.30149487e-03 1.11305569e-01] [ 1.98956014e-02 -2.96457616e-04 9.99802019e-01 5.27521773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:201.28, Y:0.11, Z:0.53 [[ 9.96889227e-01 -7.62734742e-02 -1.98551185e-02 2.01279405e+02] [ 7.62626528e-02 9.97086912e-01 -1.30273241e-03 1.13823895e-01] [ 1.98966427e-02 -2.15524099e-04 9.99802019e-01 5.27350762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.34, Y:0.11, Z:0.51 [[ 9.96877312e-01 -7.64290894e-02 -1.98549581e-02 2.01339050e+02] [ 7.64182502e-02 9.97074996e-01 -1.30517279e-03 1.12676179e-01] [ 1.98966354e-02 -2.16184005e-04 9.99802019e-01 5.11353181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:0.11, Z:0.51 [[ 9.96981209e-01 -7.50616765e-02 -1.98547929e-02 2.01397887e+02] [ 7.50505163e-02 9.97178876e-01 -1.30767970e-03 1.09083658e-01] [ 1.98969367e-02 -1.86380374e-04 9.99802019e-01 5.11623658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:0.10, Z:0.51 [[ 9.96954581e-01 -7.54145630e-02 -1.98546282e-02 2.01457195e+02] [ 7.54034230e-02 9.97152249e-01 -1.31017640e-03 1.02670194e-01] [ 1.98968935e-02 -1.90920565e-04 9.99802019e-01 5.12917623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.52, Y:0.10, Z:0.51 [[ 9.97126132e-01 -7.31114104e-02 -1.98544591e-02 2.01516235e+02] [ 7.30997629e-02 9.97323770e-01 -1.31273451e-03 1.00891417e-01] [ 1.98972998e-02 -1.42394371e-04 9.99802019e-01 5.14145828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.57, Y:0.10, Z:0.52 [[ 9.97620482e-01 -6.60240985e-02 -1.98542915e-02 2.01574905e+02] [ 6.60109966e-02 9.97818029e-01 -1.31526340e-03 9.92183156e-02] [ 1.98978091e-02 1.53213538e-06 9.99802019e-01 5.16300293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.63, Y:0.10, Z:0.52 [[ 9.98071570e-01 -5.88128824e-02 -1.98541207e-02 2.01633875e+02] [ 5.87983020e-02 9.98269013e-01 -1.31783655e-03 1.00920546e-01] [ 1.98972593e-02 1.47906607e-04 9.99802019e-01 5.16607016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.69, Y:0.11, Z:0.52 [[ 9.98593695e-01 -4.91574388e-02 -1.98539506e-02 2.01692177e+02] [ 4.91408987e-02 9.98790983e-01 -1.32039459e-03 1.07311032e-01] [ 1.98948541e-02 3.42896737e-04 9.99802019e-01 5.18102905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:201.75, Y:0.12, Z:0.54 [[ 9.98842163e-01 -4.38196315e-02 -1.98537794e-02 2.01749859e+02] [ 4.38019861e-02 9.99039356e-01 -1.32296330e-03 1.15237303e-01] [ 1.98926788e-02 4.51796554e-04 9.99802019e-01 5.37765587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.81, Y:0.13, Z:0.52 [[ 9.98979930e-01 -4.05577702e-02 -1.98536081e-02 2.01808173e+02] [ 4.05394300e-02 9.99177060e-01 -1.32553003e-03 1.25854823e-01] [ 1.98910303e-02 5.19323944e-04 9.99802019e-01 5.22863036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.87, Y:0.13, Z:0.52 [[ 9.98991986e-01 -4.02598216e-02 -1.98534316e-02 2.01866971e+02] [ 4.02413703e-02 9.99189105e-01 -1.32816839e-03 1.34843884e-01] [ 1.98908044e-02 5.27900287e-04 9.99802019e-01 5.21264258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.93, Y:0.15, Z:0.53 [[ 9.98938465e-01 -4.15667022e-02 -1.98532564e-02 2.01925043e+02] [ 4.15484569e-02 9.99135604e-01 -1.33078224e-03 1.45996233e-01] [ 1.98914115e-02 5.04497403e-04 9.99802019e-01 5.25937007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.98, Y:0.16, Z:0.53 [[ 9.98616140e-01 -4.86996872e-02 -1.98530816e-02 2.01983250e+02] [ 4.86827985e-02 9.98813400e-01 -1.33338500e-03 1.55217555e-01] [ 1.98944593e-02 3.65036211e-04 9.99802019e-01 5.25709811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:0.16, Z:0.53 [[ 9.98341244e-01 -5.40427839e-02 -1.98529040e-02 2.02041754e+02] [ 5.40268985e-02 9.98538587e-01 -1.33602328e-03 1.61199136e-01] [ 1.98960931e-02 2.61216318e-04 9.99802019e-01 5.25528383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:0.17, Z:0.53 [[ 9.97799388e-01 -6.32633378e-02 -1.98527278e-02 2.02100278e+02] [ 6.32492242e-02 9.97996866e-01 -1.33863706e-03 1.68354108e-01] [ 1.98976467e-02 8.00216143e-05 9.99802019e-01 5.27888661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.16, Y:0.17, Z:0.53 [[ 9.97388244e-01 -6.94447037e-02 -1.98525509e-02 2.02159098e+02] [ 6.94317619e-02 9.97585802e-01 -1.34125488e-03 1.68484461e-01] [ 1.98977660e-02 -4.06457396e-05 9.99802019e-01 5.26203179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.22, Y:0.16, Z:0.53 [[ 9.96581334e-01 -8.01968066e-02 -1.98523775e-02 2.02218915e+02] [ 8.01859450e-02 9.96779017e-01 -1.34381708e-03 1.61544872e-01] [ 1.98962031e-02 -2.52658633e-04 9.99802019e-01 5.26445235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:202.28, Y:0.16, Z:0.55 [[ 9.96132412e-01 -8.55926846e-02 -1.98522044e-02 2.02278058e+02] [ 8.55828429e-02 9.96330148e-01 -1.34636862e-03 1.58174176e-01] [ 1.98945891e-02 -3.57846675e-04 9.99802019e-01 5.46796314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.34, Y:0.16, Z:0.53 [[ 9.96056242e-01 -8.64746141e-02 -1.98520344e-02 2.02337529e+02] [ 8.64648976e-02 9.96253985e-01 -1.34887100e-03 1.56294488e-01] [ 1.98943115e-02 -3.72952743e-04 9.99802019e-01 5.29008530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:202.40, Y:0.15, Z:0.55 [[ 9.96258969e-01 -8.41068922e-02 -1.98518657e-02 2.02397119e+02] [ 8.40966564e-02 9.96456686e-01 -1.35134950e-03 1.47422514e-01] [ 1.98951821e-02 -3.23181469e-04 9.99802019e-01 5.46078482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:0.14, Z:0.53 [[ 9.96428787e-01 -8.20705833e-02 -1.98517386e-02 2.02457227e+02] [ 8.20599063e-02 9.96626480e-01 -1.35321431e-03 1.39907786e-01] [ 1.98958274e-02 -2.80650107e-04 9.99802019e-01 5.32890128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.52, Y:0.14, Z:0.54 [[ 9.96621487e-01 -7.96964631e-02 -1.98515664e-02 2.02516027e+02] [ 7.96852650e-02 9.96819151e-01 -1.35573529e-03 1.36447639e-01] [ 1.98964689e-02 -2.30722403e-04 9.99802019e-01 5.36296697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.58, Y:0.13, Z:0.54 [[ 9.97009156e-01 -7.46904650e-02 -1.98513924e-02 2.02575010e+02] [ 7.46782236e-02 9.97206758e-01 -1.35827856e-03 1.31694482e-01] [ 1.98973931e-02 -1.28250558e-04 9.99802019e-01 5.36681277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.63, Y:0.13, Z:0.54 [[ 9.97509862e-01 -6.76757275e-02 -1.98512163e-02 2.02633857e+02] [ 6.76620454e-02 9.97707370e-01 -1.36084694e-03 1.31268900e-01] [ 1.98978011e-02 1.42843438e-05 9.99802019e-01 5.35698114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.202320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:0.13, Z:0.54 [[ 9.97827028e-01 -6.28264095e-02 -1.98510381e-02 2.02692559e+02] [ 6.28117160e-02 9.98024463e-01 -1.36344093e-03 1.32324282e-01] [ 1.98974818e-02 1.13600443e-04 9.99802019e-01 5.39502525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.75, Y:0.14, Z:0.54 [[ 9.98174507e-01 -5.70403180e-02 -1.98508586e-02 2.02750689e+02] [ 5.70244282e-02 9.98371849e-01 -1.36605042e-03 1.37797677e-01] [ 1.98964583e-02 2.31572840e-04 9.99802019e-01 5.42612516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.81, Y:0.15, Z:0.54 [[ 9.98317326e-01 -5.44836791e-02 -1.98505891e-02 2.02809685e+02] [ 5.44672063e-02 9.98514620e-01 -1.36995510e-03 1.45023012e-01] [ 1.98957436e-02 2.86443776e-04 9.99802019e-01 5.41791540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.87, Y:0.15, Z:0.54 [[ 9.98387323e-01 -5.31856516e-02 -1.98504530e-02 2.02867654e+02] [ 5.31688831e-02 9.98584592e-01 -1.37192463e-03 1.54442506e-01] [ 1.98953232e-02 3.14285746e-04 9.99802019e-01 5.41809609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:202.93, Y:0.16, Z:0.54 [[ 9.98381203e-01 -5.33004763e-02 -1.98502718e-02 2.02925978e+02] [ 5.32836786e-02 9.98578470e-01 -1.37454061e-03 1.62726018e-01] [ 1.98953177e-02 3.14620000e-04 9.99802019e-01 5.42550723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.98, Y:0.18, Z:0.54 [[ 9.98187978e-01 -5.68043513e-02 -1.98500893e-02 2.02984094e+02] [ 5.67881937e-02 9.98385299e-01 -1.37717184e-03 1.76305572e-01] [ 1.98962667e-02 2.47425662e-04 9.99802019e-01 5.43121454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:0.18, Z:0.56 [[ 9.97646428e-01 -6.56322058e-02 -1.98499059e-02 2.03041918e+02] [ 6.56177418e-02 9.97843880e-01 -1.37980973e-03 1.80609499e-01] [ 1.98976671e-02 7.40562489e-05 9.99802019e-01 5.59358086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.10, Y:0.18, Z:0.54 [[ 9.96953957e-01 -7.54241225e-02 -1.98496742e-02 2.03101140e+02] [ 7.54115317e-02 9.97151537e-01 -1.38313546e-03 1.84024297e-01] [ 1.98974549e-02 -1.17971968e-04 9.99802019e-01 5.44288891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.16, Y:0.18, Z:0.55 [[ 9.95984933e-01 -8.72926757e-02 -1.98494846e-02 2.03160033e+02] [ 8.72823849e-02 9.96182646e-01 -1.38585123e-03 1.81633756e-01] [ 1.98946867e-02 -3.52223412e-04 9.99802019e-01 5.46113227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.22, Y:0.18, Z:0.55 [[ 9.95721674e-01 -9.02460706e-02 -1.98493060e-02 2.03219060e+02] [ 9.02363153e-02 9.95919414e-01 -1.38840479e-03 1.82130469e-01] [ 1.98936072e-02 -4.08663486e-04 9.99802019e-01 5.45547998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.28, Y:0.18, Z:0.55 [[ 9.95282629e-01 -9.49657812e-02 -1.98491293e-02 2.03277959e+02] [ 9.49569133e-02 9.95480412e-01 -1.39092546e-03 1.82031683e-01] [ 1.98915097e-02 -5.00448100e-04 9.99802019e-01 5.47274391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:203.34, Y:0.17, Z:0.55 [[ 9.94881350e-01 -9.90813711e-02 -1.98489560e-02 2.03338006e+02] [ 9.90732721e-02 9.95079165e-01 -1.39339408e-03 1.73303675e-01] [ 1.98893420e-02 -5.80239237e-04 9.99802019e-01 5.48355968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.40, Y:0.17, Z:0.55 [[ 9.94777971e-01 -1.00114022e-01 -1.98486948e-02 2.03397256e+02] [ 1.00106054e-01 9.94975792e-01 -1.39710525e-03 1.66447179e-01] [ 1.98888406e-02 -5.97164993e-04 9.99802019e-01 5.46819941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.46, Y:0.16, Z:0.55 [[ 9.95021637e-01 -9.76625683e-02 -1.98485224e-02 2.03456693e+02] [ 9.76540644e-02 9.95219436e-01 -1.39955058e-03 1.64691324e-01] [ 1.98903189e-02 -5.45705772e-04 9.99802019e-01 5.47867334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.52, Y:0.16, Z:0.55 [[ 9.95397147e-01 -9.37579963e-02 -1.98483488e-02 2.03515761e+02] [ 9.37486675e-02 9.95594908e-01 -1.40200745e-03 1.56102626e-01] [ 1.98923644e-02 -4.65202036e-04 9.99802019e-01 5.50132774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:0.15, Z:0.55 [[ 9.96010533e-01 -8.70004153e-02 -1.98480874e-02 2.03575421e+02] [ 8.69896710e-02 9.96208222e-01 -1.40569837e-03 1.50127800e-01] [ 1.98951242e-02 -3.26488213e-04 9.99802019e-01 5.49473775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.63, Y:0.15, Z:0.57 [[ 9.96403856e-01 -8.23736394e-02 -1.98479099e-02 2.03634102e+02] [ 8.23619273e-02 9.96601490e-01 -1.40820068e-03 1.51778333e-01] [ 1.98964552e-02 -2.31575523e-04 9.99802019e-01 5.70810222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.69, Y:0.15, Z:0.56 [[ 9.97180260e-01 -7.23712374e-02 -1.98477289e-02 2.03693500e+02] [ 7.23574921e-02 9.97377764e-01 -1.41074732e-03 1.47603826e-01] [ 1.98977810e-02 -2.93625029e-05 9.99802019e-01 5.55730334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:203.75, Y:0.15, Z:0.56 [[ 9.97447001e-01 -6.85970427e-02 -1.98475436e-02 2.03752585e+02] [ 6.85824982e-02 9.97644447e-01 -1.41334935e-03 1.46802548e-01] [ 1.98977432e-02 4.85469508e-05 9.99802019e-01 5.56846575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:203.81, Y:0.14, Z:0.56 [[ 9.97511870e-01 -6.76472578e-02 -1.98473556e-02 2.03810806e+02] [ 6.76324729e-02 9.97709298e-01 -1.41598434e-03 1.42700727e-01] [ 1.98976787e-02 7.01354492e-05 9.99802019e-01 5.57094555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:203.87, Y:0.14, Z:0.58 [[ 9.97610276e-01 -6.61802938e-02 -1.98470689e-02 2.03870651e+02] [ 6.61651389e-02 9.97807676e-01 -1.41999178e-03 1.42950358e-01] [ 1.98975331e-02 1.03414326e-04 9.99802019e-01 5.77934033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.93, Y:0.15, Z:0.56 [[ 9.97948198e-01 -6.08727423e-02 -1.98470212e-02 2.03930031e+02] [ 6.08565243e-02 9.98145513e-01 -1.42065753e-03 1.46087829e-01] [ 1.98966945e-02 2.09921894e-04 9.99802019e-01 5.60278444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.99, Y:0.15, Z:0.56 [[ 9.98198915e-01 -5.66129526e-02 -1.98469276e-02 2.03989335e+02] [ 5.65958666e-02 9.98396157e-01 -1.42196394e-03 1.45845524e-01] [ 1.98955978e-02 2.96148791e-04 9.99802019e-01 5.60606225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.05, Y:0.15, Z:0.56 [[ 9.98210676e-01 -5.64054380e-02 -1.98462477e-02 2.04048128e+02] [ 5.63881237e-02 9.98407898e-01 -1.43139057e-03 1.47804791e-01] [ 1.98953887e-02 3.09736679e-04 9.99802019e-01 5.61468857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.642320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:204.11, Y:0.15, Z:0.58 [[ 9.98053229e-01 -5.91260176e-02 -1.98460548e-02 2.04106238e+02] [ 5.91091878e-02 9.98250493e-01 -1.43406133e-03 1.49947714e-01] [ 1.98961243e-02 2.58185367e-04 9.99802019e-01 5.81900711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.702320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:204.17, Y:0.15, Z:0.56 [[ 9.97974468e-01 -6.04408994e-02 -1.98458602e-02 2.04166300e+02] [ 6.04242761e-02 9.98171750e-01 -1.43674859e-03 1.53906197e-01] [ 1.98964154e-02 2.34666674e-04 9.99802019e-01 5.64805526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:204.22, Y:0.16, Z:0.58 [[ 9.97887597e-01 -6.18586167e-02 -1.98457632e-02 2.04224409e+02] [ 6.18422470e-02 9.98084900e-01 -1.43808754e-03 1.58686033e-01] [ 1.98967147e-02 2.07743132e-04 9.99802019e-01 5.83243024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822320588 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:204.28, Y:0.16, Z:0.59 [[ 9.97586461e-01 -6.65387518e-02 -1.98455678e-02 2.04283394e+02] [ 6.65232543e-02 9.97783835e-01 -1.44077899e-03 1.60773720e-01] [ 1.98974544e-02 1.17109858e-04 9.99802019e-01 5.85805105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.34, Y:0.16, Z:0.57 [[ 9.97371316e-01 -6.96894432e-02 -1.98453713e-02 2.04343460e+02] [ 6.96745155e-02 9.97568734e-01 -1.44348008e-03 1.62389737e-01] [ 1.98977173e-02 5.69689957e-05 9.99802019e-01 5.68283377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:204.40, Y:0.17, Z:0.57 [[ 9.97101705e-01 -7.34462670e-02 -1.98452735e-02 2.04402047e+02] [ 7.34320563e-02 9.97299176e-01 -1.44482353e-03 1.65274619e-01] [ 1.98977918e-02 -1.66432395e-05 9.99802019e-01 5.70648685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002320588 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:204.46, Y:0.17, Z:0.59 [[ 9.96994282e-01 -7.48904138e-02 -1.98450774e-02 2.04460252e+02] [ 7.48764356e-02 9.97191769e-01 -1.44751276e-03 1.68487886e-01] [ 1.98977526e-02 -4.27667147e-05 9.99802019e-01 5.89903261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062320588 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:204.52, Y:0.17, Z:0.59 [[ 9.97162566e-01 -7.26154120e-02 -1.98448832e-02 2.04517767e+02] [ 7.26009304e-02 9.97360016e-01 -1.45016970e-03 1.70795249e-01] [ 1.98977977e-02 5.29795777e-06 9.99802019e-01 5.88929720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:204.58, Y:0.18, Z:0.57 [[ 9.97441112e-01 -6.86834780e-02 -1.98445950e-02 2.04576346e+02] [ 6.86681398e-02 9.97638498e-01 -1.45410275e-03 1.77160379e-01] [ 1.98976048e-02 8.76904429e-05 9.99802019e-01 5.74541997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:204.64, Y:0.18, Z:0.57 [[ 9.97557504e-01 -6.69718340e-02 -1.98443981e-02 2.04635365e+02] [ 6.69561038e-02 9.97754859e-01 -1.45678495e-03 1.82824148e-01] [ 1.98974082e-02 1.24523180e-04 9.99802019e-01 5.73676178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24232058799998 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:204.69, Y:0.19, Z:0.59 [[ 9.97433830e-01 -6.87892648e-02 -1.98442017e-02 2.04694172e+02] [ 6.87738411e-02 9.97631209e-01 -1.45945597e-03 1.86974128e-01] [ 1.98975898e-02 9.09487904e-05 9.99802019e-01 5.92699710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:204.75, Y:0.20, Z:0.58 [[ 9.97574404e-01 -6.67198827e-02 -1.98435540e-02 2.04753334e+02] [ 6.67038754e-02 9.97771736e-01 -1.46820977e-03 1.99218934e-01] [ 1.98972961e-02 1.41006537e-04 9.99802019e-01 5.76320841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.81, Y:0.20, Z:0.58 [[ 9.97431726e-01 -6.88199772e-02 -1.98434549e-02 2.04812025e+02] [ 6.88043587e-02 9.97629090e-01 -1.46954725e-03 2.01674431e-01] [ 1.98975421e-02 1.00456857e-04 9.99802019e-01 5.78114812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:204.87, Y:0.20, Z:0.58 [[ 9.97175601e-01 -7.24366313e-02 -1.98432568e-02 2.04870429e+02] [ 7.24216756e-02 9.97373016e-01 -1.47221814e-03 2.03169872e-01] [ 1.98977714e-02 3.09781098e-05 9.99802019e-01 5.79233628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.482320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:204.93, Y:0.21, Z:0.58 [[ 9.96908197e-01 -7.60282881e-02 -1.98430569e-02 2.04928712e+02] [ 7.60139901e-02 9.97105660e-01 -1.47490762e-03 2.07887050e-01] [ 1.98977590e-02 -3.80024323e-05 9.99802019e-01 5.80368571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.99, Y:0.21, Z:0.58 [[ 9.96747036e-01 -7.81129226e-02 -1.98423014e-02 2.04987605e+02] [ 7.80988365e-02 9.96944515e-01 -1.48500217e-03 2.07171496e-01] [ 1.98976714e-02 -6.94891400e-05 9.99802019e-01 5.82173190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.05, Y:0.20, Z:0.58 [[ 9.96587669e-01 -8.01205844e-02 -1.98421024e-02 2.05046587e+02] [ 8.01068434e-02 9.96785173e-01 -1.48765665e-03 2.02897973e-01] [ 1.98975054e-02 -1.06907910e-04 9.99802019e-01 5.81494598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:205.10, Y:0.21, Z:0.60 [[ 9.96636730e-01 -7.95080524e-02 -1.98418053e-02 2.05104610e+02] [ 7.94941113e-02 9.96834220e-01 -1.49160835e-03 2.05439105e-01] [ 1.98975854e-02 -9.07150106e-05 9.99802019e-01 5.97432606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:0.21, Z:0.60 [[ 9.96663716e-01 -7.91691276e-02 -1.98415553e-02 2.05163166e+02] [ 7.91550533e-02 9.96861195e-01 -1.49492684e-03 2.05592867e-01] [ 1.98976286e-02 -8.06200283e-05 9.99802019e-01 5.95265629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.22, Y:0.21, Z:0.60 [[ 9.97090950e-01 -7.35932090e-02 -1.98413064e-02 2.05222448e+02] [ 7.35779647e-02 9.97288343e-01 -1.49822324e-03 2.07119202e-01] [ 1.98977626e-02 3.39818961e-05 9.99802019e-01 5.97336216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.28, Y:0.21, Z:0.58 [[ 9.97494762e-01 -6.79008891e-02 -1.98411076e-02 2.05281516e+02] [ 6.78844661e-02 9.97692060e-01 -1.50085124e-03 2.05756872e-01] [ 1.98972246e-02 1.50188250e-04 9.99802019e-01 5.81736553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.34, Y:0.21, Z:0.58 [[ 9.97792127e-01 -6.33814640e-02 -1.98409047e-02 2.05339576e+02] [ 6.33640942e-02 9.97989344e-01 -1.50352818e-03 2.12091120e-01] [ 1.98963073e-02 2.43007627e-04 9.99802019e-01 5.83577380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.40, Y:0.22, Z:0.58 [[ 9.98211938e-01 -5.63850375e-02 -1.98407023e-02 2.05398077e+02] [ 5.63662326e-02 9.98409024e-01 -1.50619400e-03 2.18762630e-01] [ 1.98940631e-02 3.85155186e-04 9.99802019e-01 5.84646476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.46, Y:0.23, Z:0.58 [[ 9.98606706e-01 -4.88980747e-02 -1.98400002e-02 2.05455223e+02] [ 4.88776099e-02 9.98803626e-01 -1.51538730e-03 2.29764607e-01] [ 1.98903636e-02 5.43544127e-04 9.99802019e-01 5.83851435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.51, Y:0.24, Z:0.60 [[ 9.98742188e-01 -4.60483127e-02 -1.98392070e-02 2.05513764e+02] [ 4.60270814e-02 9.98939027e-01 -1.52570047e-03 2.39631759e-01] [ 1.98884141e-02 6.10640631e-04 9.99802019e-01 6.00410018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.57, Y:0.25, Z:0.59 [[ 9.98742613e-01 -4.60391488e-02 -1.98391097e-02 2.05573635e+02] [ 4.60178906e-02 9.98939449e-01 -1.52696503e-03 2.48980674e-01] [ 1.98883695e-02 6.12091068e-04 9.99802019e-01 5.86171019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.63, Y:0.26, Z:0.59 [[ 9.98547100e-01 -5.01009503e-02 -1.98389624e-02 2.05632342e+02] [ 5.00804549e-02 9.98744017e-01 -1.52887617e-03 2.57954368e-01] [ 1.98906432e-02 5.33110604e-04 9.99802019e-01 5.86545820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.69, Y:0.27, Z:0.59 [[ 9.98444982e-01 -5.20964528e-02 -1.98387651e-02 2.05690389e+02] [ 5.20763003e-02 9.98641935e-01 -1.53143272e-03 2.67341660e-01] [ 1.98916050e-02 4.95921832e-04 9.99802019e-01 5.86540707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.75, Y:0.27, Z:0.59 [[ 9.98162302e-01 -5.72577488e-02 -1.98385661e-02 2.05748498e+02] [ 5.72385637e-02 9.98359351e-01 -1.53400582e-03 2.73850327e-01] [ 1.98938517e-02 3.95655755e-04 9.99802019e-01 5.86174538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.81, Y:0.28, Z:0.59 [[ 9.97732672e-01 -6.43113888e-02 -1.98383655e-02 2.05806757e+02] [ 6.42935454e-02 9.97929847e-01 -1.53659568e-03 2.77117625e-01] [ 1.98961177e-02 2.57632863e-04 9.99802019e-01 5.88534497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.86, Y:0.28, Z:0.59 [[ 9.97454239e-01 -6.84944380e-02 -1.98381598e-02 2.05864411e+02] [ 6.84773687e-02 9.97651483e-01 -1.53924755e-03 2.80948303e-01] [ 1.98969994e-02 1.76864010e-04 9.99802019e-01 5.90042234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.92, Y:0.28, Z:0.61 [[ 9.97448634e-01 -6.85761054e-02 -1.98378450e-02 2.05922552e+02] [ 6.85589719e-02 9.97645872e-01 -1.54329396e-03 2.83465564e-01] [ 1.98969772e-02 1.79294192e-04 9.99802019e-01 6.06724205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.98, Y:0.29, Z:0.59 [[ 9.97492595e-01 -6.79337217e-02 -1.98376367e-02 2.05980868e+02] [ 6.79164080e-02 9.97689817e-01 -1.54596621e-03 2.90738424e-01] [ 1.98968314e-02 1.94788823e-04 9.99802019e-01 5.91964165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:0.29, Z:0.60 [[ 9.97514986e-01 -6.76042163e-02 -1.98374283e-02 2.06039278e+02] [ 6.75867843e-02 9.97712197e-01 -1.54863633e-03 2.91769951e-01] [ 1.98967385e-02 2.04039957e-04 9.99802019e-01 5.95012502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:0.30, Z:0.60 [[ 9.97441567e-01 -6.86789990e-02 -1.98372185e-02 2.06096726e+02] [ 6.86617262e-02 9.97638793e-01 -1.55131807e-03 2.98264728e-01] [ 1.98969217e-02 1.85291457e-04 9.99802019e-01 5.96286425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:0.30, Z:0.60 [[ 9.97310643e-01 -7.05547924e-02 -1.98369007e-02 2.06155127e+02] [ 7.05378099e-02 9.97507894e-01 -1.55537156e-03 3.03602684e-01] [ 1.98972040e-02 1.51937082e-04 9.99802019e-01 5.95153489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.21, Y:0.31, Z:0.60 [[ 9.97168869e-01 -7.25310499e-02 -1.98366892e-02 2.06214218e+02] [ 7.25144048e-02 9.97366148e-01 -1.55806448e-03 3.05359068e-01] [ 1.98974504e-02 1.15207680e-04 9.99802020e-01 5.97156499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.27, Y:0.31, Z:0.60 [[ 9.97059733e-01 -7.40162365e-02 -1.98364791e-02 2.06272691e+02] [ 7.39998322e-02 9.97257033e-01 -1.56073446e-03 3.07063732e-01] [ 1.98975880e-02 8.82493577e-05 9.99802020e-01 5.98289286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.33, Y:0.31, Z:0.60 [[ 9.97119078e-01 -7.32124827e-02 -1.98362684e-02 2.06331294e+02] [ 7.31958661e-02 9.97316360e-01 -1.56340866e-03 3.11869101e-01] [ 1.98974960e-02 1.06971755e-04 9.99802020e-01 5.99569915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.39, Y:0.32, Z:0.60 [[ 9.97236790e-01 -7.15913126e-02 -1.98360560e-02 2.06390202e+02] [ 7.15743218e-02 9.97434040e-01 -1.56609881e-03 3.18666046e-01] [ 1.98972765e-02 1.42019099e-04 9.99802020e-01 6.01920144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.45, Y:0.32, Z:0.60 [[ 9.97300550e-01 -7.06977511e-02 -1.98353628e-02 2.06449244e+02] [ 7.06804099e-02 9.97497769e-01 -1.57482986e-03 3.22572465e-01] [ 1.98970670e-02 1.68607114e-04 9.99802020e-01 6.01476620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:206.51, Y:0.33, Z:0.60 [[ 9.97132432e-01 -7.30306814e-02 -1.98351484e-02 2.06507821e+02] [ 7.30137481e-02 9.97329687e-01 -1.57752524e-03 3.27110973e-01] [ 1.98973901e-02 1.24763049e-04 9.99802020e-01 6.04340921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.57, Y:0.33, Z:0.61 [[ 9.97227892e-01 -7.17154522e-02 -1.98349357e-02 2.06566167e+02] [ 7.16982056e-02 9.97425120e-01 -1.58019450e-03 3.30792078e-01] [ 1.98971875e-02 1.53684733e-04 9.99802020e-01 6.05627219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.62, Y:0.34, Z:0.61 [[ 9.97615021e-01 -6.61124277e-02 -1.98347224e-02 2.06624716e+02] [ 6.60940203e-02 9.97812144e-01 -1.58286849e-03 3.38304510e-01] [ 1.98959741e-02 2.68136841e-04 9.99802020e-01 6.06159583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:206.68, Y:0.34, Z:0.62 [[ 9.97730846e-01 -6.43408947e-02 -1.98345100e-02 2.06682601e+02] [ 6.43220845e-02 9.97927931e-01 -1.58552456e-03 3.44442312e-01] [ 1.98954256e-02 3.06129725e-04 9.99802020e-01 6.23669315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:206.74, Y:0.35, Z:0.61 [[ 9.97934355e-01 -6.11033828e-02 -1.98342995e-02 2.06741861e+02] [ 6.10838811e-02 9.98131373e-01 -1.58815370e-03 3.52147329e-01] [ 1.98942782e-02 3.73317146e-04 9.99802020e-01 6.11350005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.80, Y:0.37, Z:0.61 [[ 9.98025284e-01 -5.95998993e-02 -1.98339419e-02 2.06799901e+02] [ 5.95800122e-02 9.98222263e-01 -1.59260697e-03 3.66304870e-01] [ 1.98936016e-02 4.07755518e-04 9.99802020e-01 6.11982368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:206.86, Y:0.37, Z:0.62 [[ 9.98035670e-01 -5.94257826e-02 -1.98337305e-02 2.06858219e+02] [ 5.94058091e-02 9.98232641e-01 -1.59523554e-03 3.74900455e-01] [ 1.98934753e-02 4.13863164e-04 9.99802020e-01 6.16368962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:0.38, Z:0.62 [[ 9.97873172e-01 -6.20948002e-02 -1.98335198e-02 2.06916380e+02] [ 6.20753015e-02 9.98070190e-01 -1.59785085e-03 3.84663787e-01] [ 1.98944631e-02 3.63280770e-04 9.99802020e-01 6.16549571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.97, Y:0.39, Z:0.62 [[ 9.97797772e-01 -6.32949125e-02 -1.98333073e-02 2.06974741e+02] [ 6.32755985e-02 9.97994808e-01 -1.60048397e-03 3.92464155e-01] [ 1.98948402e-02 3.41994948e-04 9.99802020e-01 6.15893400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:207.03, Y:0.40, Z:0.63 [[ 9.97394268e-01 -6.93636932e-02 -1.98330925e-02 2.07032268e+02] [ 6.93455253e-02 9.97591413e-01 -1.60314194e-03 4.02293794e-01] [ 1.98965226e-02 2.23628367e-04 9.99802020e-01 6.32038749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.09, Y:0.41, Z:0.62 [[ 9.96995626e-01 -7.48757523e-02 -1.98328760e-02 2.07090857e+02] [ 7.48586213e-02 9.97192864e-01 -1.60581568e-03 4.10547322e-01] [ 1.98974391e-02 1.16329458e-04 9.99802020e-01 6.19112054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.15, Y:0.41, Z:0.62 [[ 9.96673129e-01 -7.90527612e-02 -1.98326589e-02 2.07149411e+02] [ 7.90364035e-02 9.96870433e-01 -1.60849203e-03 4.11763233e-01] [ 1.98977470e-02 3.56387511e-05 9.99802020e-01 6.18848373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:0.42, Z:0.62 [[ 9.96085434e-01 -8.61422236e-02 -1.98324437e-02 2.07207917e+02] [ 8.61272174e-02 9.96282845e-01 -1.61114105e-03 4.15563112e-01] [ 1.98975107e-02 -1.03279066e-04 9.99802020e-01 6.21172398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.27, Y:0.41, Z:0.62 [[ 9.95527264e-01 -9.23696321e-02 -1.98322284e-02 2.07267572e+02] [ 9.23558080e-02 9.95724761e-01 -1.61378745e-03 4.10642406e-01] [ 1.98965058e-02 -2.25052079e-04 9.99802020e-01 6.19901487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.33, Y:0.41, Z:0.62 [[ 9.95442790e-01 -9.32756243e-02 -1.98320165e-02 2.07326435e+02] [ 9.32619281e-02 9.95640297e-01 -1.61638792e-03 4.10342144e-01] [ 1.98963243e-02 -2.40550387e-04 9.99802020e-01 6.21929862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.38, Y:0.41, Z:0.62 [[ 9.95711745e-01 -9.03593963e-02 -1.98318068e-02 2.07384842e+02] [ 9.03450705e-02 9.95909206e-01 -1.61895622e-03 4.13522945e-01] [ 1.98969669e-02 -1.79692259e-04 9.99802020e-01 6.22549397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.44, Y:0.42, Z:0.62 [[ 9.96034676e-01 -8.67273720e-02 -1.98314876e-02 2.07443566e+02] [ 8.67122485e-02 9.96232078e-01 -1.62285642e-03 4.15091553e-01] [ 1.98975102e-02 -1.03211617e-04 9.99802020e-01 6.22606814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:0.41, Z:0.62 [[ 9.96563195e-01 -8.04271026e-02 -1.98312749e-02 2.07502336e+02] [ 8.04106795e-02 9.96760493e-01 -1.62545231e-03 4.14933698e-01] [ 1.98977617e-02 2.52196585e-05 9.99802020e-01 6.22225220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.56, Y:0.42, Z:0.63 [[ 9.97073814e-01 -7.38277572e-02 -1.98310585e-02 2.07560908e+02] [ 7.38099759e-02 9.97270995e-01 -1.62808719e-03 4.20070030e-01] [ 1.98971375e-02 1.59593155e-04 9.99802020e-01 6.25182717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.62, Y:0.43, Z:0.63 [[ 9.97495438e-01 -6.78939537e-02 -1.98308414e-02 2.07619580e+02] [ 6.78749470e-02 9.97692504e-01 -1.63072718e-03 4.28711381e-01] [ 1.98957984e-02 2.80625612e-04 9.99802020e-01 6.26483842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.68, Y:0.44, Z:0.63 [[ 9.98073232e-01 -5.87926026e-02 -1.98306233e-02 2.07677957e+02] [ 5.87717466e-02 9.98270111e-01 -1.63337545e-03 4.36529018e-01] [ 1.98923489e-02 4.64747943e-04 9.99802020e-01 6.27842485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.74, Y:0.45, Z:0.63 [[ 9.98355800e-01 -5.37817145e-02 -1.98298573e-02 2.07735956e+02] [ 5.37596869e-02 9.98552551e-01 -1.64262259e-03 4.47089797e-01] [ 1.98894977e-02 5.73874867e-04 9.99802020e-01 6.27924521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.79, Y:0.45, Z:0.63 [[ 9.98427101e-01 -5.24414768e-02 -1.98296416e-02 2.07794781e+02] [ 5.24191335e-02 9.98623817e-01 -1.64522227e-03 4.54460027e-01] [ 1.98886303e-02 6.03181872e-04 9.99802020e-01 6.30396255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.85, Y:0.46, Z:0.63 [[ 9.98394757e-01 -5.30539638e-02 -1.98289412e-02 2.07853134e+02] [ 5.30315745e-02 9.98591467e-01 -1.65362130e-03 4.63996176e-01] [ 1.98887426e-02 5.99406863e-04 9.99802020e-01 6.31920607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.91, Y:0.47, Z:0.64 [[ 9.98312506e-01 -5.45800677e-02 -1.98281727e-02 2.07910958e+02] [ 5.45577973e-02 9.98509230e-01 -1.66278595e-03 4.74984307e-01] [ 1.98893684e-02 5.78198585e-04 9.99802020e-01 6.35302806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.97, Y:0.48, Z:0.64 [[ 9.98250243e-01 -5.57073157e-02 -1.98279570e-02 2.07969172e+02] [ 5.56852165e-02 9.98446986e-01 -1.66535328e-03 4.83033794e-01] [ 1.98899363e-02 5.58315233e-04 9.99802020e-01 6.37513375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.03, Y:0.49, Z:0.64 [[ 9.98180818e-01 -5.69378230e-02 -1.98277418e-02 2.08027399e+02] [ 5.69159155e-02 9.98377582e-01 -1.66791230e-03 4.90972389e-01] [ 1.98905402e-02 5.36363985e-04 9.99802020e-01 6.36654399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.09, Y:0.50, Z:0.64 [[ 9.98154749e-01 -5.73930945e-02 -1.98275242e-02 2.08085514e+02] [ 5.73712256e-02 9.98351517e-01 -1.67049478e-03 5.00308503e-01] [ 1.98907137e-02 5.29882937e-04 9.99802020e-01 6.38781042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:208.14, Y:0.51, Z:0.66 [[ 9.98074393e-01 -5.87740026e-02 -1.98273028e-02 2.08143079e+02] [ 5.87523538e-02 9.98271186e-01 -1.67311841e-03 5.07433346e-01] [ 1.98913610e-02 5.04995930e-04 9.99802020e-01 6.55952137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.20, Y:0.52, Z:0.64 [[ 9.98265666e-01 -5.54305807e-02 -1.98270243e-02 2.08202131e+02] [ 5.54082075e-02 9.98462378e-01 -1.67641244e-03 5.16097462e-01] [ 1.98894623e-02 5.74925105e-04 9.99802020e-01 6.39505417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.26, Y:0.53, Z:0.64 [[ 9.98565746e-01 -4.97327711e-02 -1.98268041e-02 2.08259376e+02] [ 4.97092241e-02 9.98762321e-01 -1.67901223e-03 5.34820056e-01] [ 1.98857668e-02 6.91029055e-04 9.99802020e-01 6.43159102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.32, Y:0.54, Z:0.64 [[ 9.98705925e-01 -4.68335626e-02 -1.98265856e-02 2.08317606e+02] [ 4.68093939e-02 9.98902424e-01 -1.68158819e-03 5.44909279e-01] [ 1.98835792e-02 7.51341632e-04 9.99802020e-01 6.43582737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.38, Y:0.56, Z:0.64 [[ 9.98685630e-01 -4.72644450e-02 -1.98263685e-02 2.08375266e+02] [ 4.72403105e-02 9.98882134e-01 -1.68414462e-03 5.59599850e-01] [ 1.98838054e-02 7.45327226e-04 9.99802020e-01 6.43652435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.082320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:208.43, Y:0.57, Z:0.66 [[ 9.98609276e-01 -4.88511869e-02 -1.98261513e-02 2.08433416e+02] [ 4.88273140e-02 9.98805811e-01 -1.68669714e-03 5.73988932e-01] [ 1.98848723e-02 7.16293695e-04 9.99802020e-01 6.56135040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.49, Y:0.60, Z:0.65 [[ 9.98758950e-01 -4.56890591e-02 -1.98259872e-02 2.08490805e+02] [ 4.56645259e-02 9.98955404e-01 -1.68862442e-03 5.96253050e-01] [ 1.98824287e-02 7.81184448e-04 9.99802020e-01 6.46343504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.55, Y:0.61, Z:0.65 [[ 9.98518873e-01 -5.06655602e-02 -1.98257752e-02 2.08548207e+02] [ 5.06419569e-02 9.98715441e-01 -1.69111009e-03 6.12530782e-01] [ 1.98859888e-02 6.84589286e-04 9.99802020e-01 6.46022210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.61, Y:0.62, Z:0.65 [[ 9.98280547e-01 -5.51624581e-02 -1.98255553e-02 2.08606725e+02] [ 5.51396893e-02 9.98477214e-01 -1.69368394e-03 6.21442384e-01] [ 1.98887930e-02 5.97596769e-04 9.99802020e-01 6.46006098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.66, Y:0.64, Z:0.65 [[ 9.97942561e-01 -6.09721263e-02 -1.98253323e-02 2.08662717e+02] [ 6.09504509e-02 9.98139352e-01 -1.69628958e-03 6.41946586e-01] [ 1.98918707e-02 4.84436624e-04 9.99802020e-01 6.45544118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.72, Y:0.66, Z:0.65 [[ 9.97823678e-01 -6.28878169e-02 -1.98249951e-02 2.08720835e+02] [ 6.28664412e-02 9.98020501e-01 -1.70022181e-03 6.55069502e-01] [ 1.98926748e-02 4.50194688e-04 9.99802020e-01 6.47186000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:208.78, Y:0.66, Z:0.66 [[ 9.97776287e-01 -6.36353694e-02 -1.98247742e-02 2.08779135e+02] [ 6.36140902e-02 9.97973120e-01 -1.70279312e-03 6.63372038e-01] [ 1.98929497e-02 4.37871618e-04 9.99802020e-01 6.64255335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:208.84, Y:0.67, Z:0.65 [[ 9.97638819e-01 -6.57553922e-02 -1.98246083e-02 2.08837837e+02] [ 6.57344929e-02 9.97835693e-01 -1.70472321e-03 6.74884164e-01] [ 1.98937965e-02 3.97537478e-04 9.99802020e-01 6.49442366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.90, Y:0.69, Z:0.65 [[ 9.97307553e-01 -7.06019984e-02 -1.98242777e-02 2.08895799e+02] [ 7.05819797e-02 9.97504519e-01 -1.70855870e-03 6.92164934e-01] [ 1.98954343e-02 3.04721729e-04 9.99802020e-01 6.49615143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.95, Y:0.70, Z:0.65 [[ 9.96916245e-01 -7.59276507e-02 -1.98240545e-02 2.08954110e+02] [ 7.59086329e-02 9.97113309e-01 -1.71114470e-03 7.00613749e-01] [ 1.98967518e-02 2.01051075e-04 9.99802020e-01 6.50147110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.01, Y:0.71, Z:0.65 [[ 9.96570901e-01 -8.03333928e-02 -1.98238315e-02 2.09012237e+02] [ 8.03151949e-02 9.96768044e-01 -1.71372473e-03 7.09043653e-01] [ 1.98974310e-02 1.15693307e-04 9.99802020e-01 6.52613553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:209.07, Y:0.72, Z:0.65 [[ 9.95949322e-01 -8.77038924e-02 -1.98236105e-02 2.09071450e+02] [ 8.76871026e-02 9.96146589e-01 -1.71627692e-03 7.16375938e-01] [ 1.98977461e-02 -2.89501318e-05 9.99802020e-01 6.51800046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.13, Y:0.72, Z:0.65 [[ 9.95604194e-01 -9.15386152e-02 -1.98234995e-02 2.09131560e+02] [ 9.15225598e-02 9.95801522e-01 -1.71755824e-03 7.20811136e-01] [ 1.98974939e-02 -1.04289227e-04 9.99802020e-01 6.52651352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.19, Y:0.72, Z:0.66 [[ 9.95437183e-01 -9.33372591e-02 -1.98234995e-02 2.09192198e+02] [ 9.33215602e-02 9.95634540e-01 -1.71755824e-03 7.24967767e-01] [ 1.98972730e-02 -1.40238563e-04 9.99802020e-01 6.55055048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.25, Y:0.73, Z:0.66 [[ 9.95340819e-01 -9.43593251e-02 -1.98234995e-02 2.09252628e+02] [ 9.43438289e-02 9.95538192e-01 -1.71755824e-03 7.29511357e-01] [ 1.98971185e-02 -1.60669015e-04 9.99802020e-01 6.55307529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.31, Y:0.73, Z:0.66 [[ 9.95361006e-01 -9.41461492e-02 -1.98234995e-02 2.09313424e+02] [ 9.41306107e-02 9.95558375e-01 -1.71755824e-03 7.34250333e-01] [ 1.98971524e-02 -1.56407613e-04 9.99802020e-01 6.55704252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:209.37, Y:0.74, Z:0.67 [[ 9.95252564e-01 -9.52856914e-02 -1.98234995e-02 2.09374071e+02] [ 9.52703789e-02 9.95449951e-01 -1.71755824e-03 7.39917752e-01] [ 1.98969603e-02 -1.79188062e-04 9.99802020e-01 6.73924843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:0.75, Z:0.66 [[ 9.95550715e-01 -9.21183914e-02 -1.98236075e-02 2.09435734e+02] [ 9.21024757e-02 9.95748055e-01 -1.71631065e-03 7.46689020e-01] [ 1.98974224e-02 -1.17129035e-04 9.99802020e-01 6.58264171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:0.76, Z:0.66 [[ 9.95657090e-01 -9.09614178e-02 -1.98237159e-02 2.09495860e+02] [ 9.09452978e-02 9.95854413e-01 -1.71505795e-03 7.55600479e-01] [ 1.98975390e-02 -9.52641329e-05 9.99802020e-01 6.58338688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:0.76, Z:0.68 [[ 9.95290210e-01 -9.48916100e-02 -1.98237159e-02 2.09555667e+02] [ 9.48762691e-02 9.95487595e-01 -1.71505795e-03 7.57105179e-01] [ 1.98970079e-02 -1.73819811e-04 9.99802020e-01 6.81243279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282320588 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:209.62, Y:0.77, Z:0.68 [[ 9.95436729e-01 -9.33420500e-02 -1.98237159e-02 2.09616751e+02] [ 9.33264019e-02 9.95634090e-01 -1.71505795e-03 7.68684987e-01] [ 1.98972543e-02 -1.42844396e-04 9.99802020e-01 6.83176598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.68, Y:0.78, Z:0.66 [[ 9.95762969e-01 -8.97947671e-02 -1.98244687e-02 2.09678214e+02] [ 8.97785899e-02 9.95960287e-01 -1.70631190e-03 7.77670254e-01] [ 1.98976014e-02 -8.07306414e-05 9.99802020e-01 6.60496516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.74, Y:0.78, Z:0.66 [[ 9.95899373e-01 -8.82690475e-02 -1.98245781e-02 2.09738782e+02] [ 8.82525934e-02 9.96096668e-01 -1.70503978e-03 7.82811644e-01] [ 1.98976984e-02 -5.15223792e-05 9.99802020e-01 6.60996566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.80, Y:0.79, Z:0.67 [[ 9.95827204e-01 -8.90795435e-02 -1.98245781e-02 2.09799673e+02] [ 8.90632500e-02 9.96024513e-01 -1.70503978e-03 7.94118403e-01] [ 1.98976499e-02 -6.77163550e-05 9.99802020e-01 6.65187061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:0.80, Z:0.66 [[ 9.95567511e-01 -9.19364598e-02 -1.98246857e-02 2.09860777e+02] [ 9.19207574e-02 9.95764868e-01 -1.70378702e-03 8.01199113e-01] [ 1.98973657e-02 -1.26065120e-04 9.99802020e-01 6.64221033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.92, Y:0.81, Z:0.67 [[ 9.95447875e-01 -9.32228813e-02 -1.98247932e-02 2.09921500e+02] [ 9.32074588e-02 9.95645254e-01 -1.70253519e-03 8.06398254e-01] [ 1.98971765e-02 -1.53033559e-04 9.99802020e-01 6.66090940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:209.98, Y:0.81, Z:0.67 [[ 9.95240558e-01 -9.54107172e-02 -1.98249005e-02 2.09983611e+02] [ 9.53957535e-02 9.95437972e-01 -1.70128566e-03 8.14883761e-01] [ 1.98967796e-02 -1.98022825e-04 9.99802020e-01 6.68614863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:0.82, Z:0.67 [[ 9.94962430e-01 -9.82685393e-02 -1.98256451e-02 2.10046108e+02] [ 9.82543164e-02 9.95159899e-01 -1.69256356e-03 8.20626694e-01] [ 1.98960127e-02 -2.63918051e-04 9.99802020e-01 6.65916663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:210.11, Y:0.82, Z:0.67 [[ 9.94461053e-01 -1.03218836e-01 -1.98263832e-02 2.10108279e+02] [ 1.03205770e-01 9.94658602e-01 -1.68387236e-03 8.20111981e-01] [ 1.98942900e-02 -3.71651659e-04 9.99802020e-01 6.69188756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.17, Y:0.82, Z:0.67 [[ 9.93674581e-01 -1.10533763e-01 -1.98271061e-02 2.10171007e+02] [ 1.10522321e-01 9.93872230e-01 -1.67531729e-03 8.18188778e-01] [ 1.98907893e-02 -5.26617576e-04 9.99802020e-01 6.72058370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:210.23, Y:0.82, Z:0.69 [[ 9.93969044e-01 -1.07853591e-01 -1.98278208e-02 2.10233185e+02] [ 1.07841785e-01 9.94166672e-01 -1.66681534e-03 8.16152639e-01] [ 1.98919307e-02 -4.81504754e-04 9.99802020e-01 6.90239267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:0.82, Z:0.69 [[ 9.94286393e-01 -1.04887553e-01 -1.98285248e-02 2.10295181e+02] [ 1.04875326e-01 9.94483995e-01 -1.65839837e-03 8.17892943e-01] [ 1.98930959e-02 -4.30600067e-04 9.99802020e-01 6.93625253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:0.82, Z:0.68 [[ 9.94749484e-01 -1.00400526e-01 -1.98292298e-02 2.10356961e+02] [ 1.00387576e-01 9.94947040e-01 -1.64992547e-03 8.16880587e-01] [ 1.98946869e-02 -3.49345799e-04 9.99802020e-01 6.75953244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:0.82, Z:0.68 [[ 9.95167401e-01 -9.61698433e-02 -1.98293821e-02 2.10417712e+02] [ 9.61560899e-02 9.95364903e-01 -1.64809346e-03 8.21599404e-01] [ 1.98959679e-02 -2.66586955e-04 9.99802020e-01 6.76014023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.48, Y:0.82, Z:0.68 [[ 9.95282433e-01 -9.49719671e-02 -1.98293821e-02 2.10477801e+02] [ 9.49579759e-02 9.95479918e-01 -1.64809346e-03 8.24655384e-01] [ 1.98962743e-02 -2.42639512e-04 9.99802020e-01 6.78661655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18232058799998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:0.82, Z:0.68 [[ 9.95262789e-01 -9.51776040e-02 -1.98293821e-02 2.10538981e+02] [ 9.51636536e-02 9.95460277e-01 -1.64809346e-03 8.23773157e-01] [ 1.98962238e-02 -2.46750349e-04 9.99802020e-01 6.77917192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.60, Y:0.82, Z:0.68 [[ 9.95210133e-01 -9.57266273e-02 -1.98293821e-02 2.10599040e+02] [ 9.57127859e-02 9.95407628e-01 -1.64809346e-03 8.23723777e-01] [ 1.98960846e-02 -2.57726086e-04 9.99802020e-01 6.80850896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302320588 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:0.82, Z:0.68 [[ 9.95010644e-01 -9.77784172e-02 -1.98292789e-02 2.10659054e+02] [ 9.77649584e-02 9.95208165e-01 -1.64933439e-03 8.18790765e-01] [ 1.98955295e-02 -2.97503349e-04 9.99802020e-01 6.84600626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:0.82, Z:0.68 [[ 9.94916073e-01 -9.87360685e-02 -1.98291753e-02 2.10718915e+02] [ 9.87227750e-02 9.95113606e-01 -1.65057828e-03 8.15806872e-01] [ 1.98952538e-02 -3.15404351e-04 9.99802020e-01 6.84257793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.78, Y:0.82, Z:0.69 [[ 9.95008770e-01 -9.77975227e-02 -1.98290715e-02 2.10778744e+02] [ 9.77840180e-02 9.95206289e-01 -1.65182401e-03 8.17193462e-01] [ 1.98955610e-02 -2.95386916e-04 9.99802020e-01 6.85121076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482320588 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:0.81, Z:0.70 [[ 9.95186240e-01 -9.59747910e-02 -1.98289675e-02 2.10838045e+02] [ 9.59608997e-02 9.95383732e-01 -1.65307180e-03 8.11067499e-01] [ 1.98960849e-02 -2.57691258e-04 9.99802020e-01 7.03415728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:0.81, Z:0.69 [[ 9.95474550e-01 -9.29367544e-02 -1.98287581e-02 2.10898000e+02] [ 9.29222103e-02 9.95671995e-01 -1.65557959e-03 8.09376312e-01] [ 1.98968034e-02 -1.94444682e-04 9.99802020e-01 6.87761807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:0.81, Z:0.69 [[ 9.95739796e-01 -9.00504620e-02 -1.98285996e-02 2.10957121e+02] [ 9.00353079e-02 9.95937195e-01 -1.65747656e-03 8.09597618e-01] [ 1.98972964e-02 -1.34858698e-04 9.99802020e-01 6.88925416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.02, Y:0.81, Z:0.69 [[ 9.96219900e-01 -8.45739064e-02 -1.98283851e-02 2.11016132e+02] [ 8.45576161e-02 9.96417209e-01 -1.66003808e-03 8.14686728e-01] [ 1.98977401e-02 -2.28780112e-05 9.99802020e-01 6.92036353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:211.07, Y:0.82, Z:0.69 [[ 9.96597444e-01 -8.00023874e-02 -1.98280816e-02 2.11074632e+02] [ 7.99851200e-02 9.96794669e-01 -1.66365593e-03 8.17259139e-01] [ 1.98976224e-02 7.20437612e-05 9.99802020e-01 6.92852596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782320588 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:211.13, Y:0.82, Z:0.71 [[ 9.96814314e-01 -7.72533505e-02 -1.98278647e-02 2.11133556e+02] [ 7.72354879e-02 9.97011486e-01 -1.66623648e-03 8.18456024e-01] [ 1.98973312e-02 1.29513566e-04 9.99802020e-01 7.10954877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:211.19, Y:0.82, Z:0.70 [[ 9.96715562e-01 -7.85172187e-02 -1.98276437e-02 2.11192788e+02] [ 7.84995539e-02 9.96912752e-01 -1.66886269e-03 8.18095846e-01] [ 1.98974653e-02 1.06920229e-04 9.99802020e-01 6.95198190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902320588 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:0.82, Z:0.70 [[ 9.96698877e-01 -7.87287850e-02 -1.98274187e-02 2.11250329e+02] [ 7.87111090e-02 9.96896066e-01 -1.67153094e-03 8.21838564e-01] [ 1.98974733e-02 1.05374894e-04 9.99802020e-01 6.97273261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96232058799998 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:0.82, Z:0.71 [[ 9.96560251e-01 -8.04646043e-02 -1.98270881e-02 2.11309051e+02] [ 8.04471939e-02 9.96757464e-01 -1.67544309e-03 8.24902687e-01] [ 1.98976119e-02 7.46463806e-05 9.99802020e-01 7.14811314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:211.37, Y:0.83, Z:0.70 [[ 9.96776522e-01 -7.77397023e-02 -1.98268665e-02 2.11368260e+02] [ 7.77217007e-02 9.96973681e-01 -1.67806208e-03 8.28461099e-01] [ 1.98973161e-02 1.31675100e-04 9.99802020e-01 6.98690728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.43, Y:0.83, Z:0.70 [[ 9.96763919e-01 -7.79011794e-02 -1.98266442e-02 2.11427101e+02] [ 7.78831576e-02 9.96961077e-01 -1.68068357e-03 8.34034324e-01] [ 1.98973198e-02 1.31083085e-04 9.99802020e-01 6.99166305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.142320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:211.49, Y:0.84, Z:0.70 [[ 9.96794554e-01 -7.75082635e-02 -1.98264224e-02 2.11485817e+02] [ 7.74901120e-02 9.96991700e-01 -1.68329640e-03 8.36033426e-01] [ 1.98972480e-02 1.41548992e-04 9.99802020e-01 6.98565638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.54, Y:0.84, Z:0.70 [[ 9.96836431e-01 -7.69678547e-02 -1.98262016e-02 2.11544104e+02] [ 7.69495447e-02 9.97033563e-01 -1.68589363e-03 8.41845073e-01] [ 1.98971480e-02 1.54943005e-04 9.99802020e-01 7.00201954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.60, Y:0.85, Z:0.70 [[ 9.96845101e-01 -7.68555487e-02 -1.98259789e-02 2.11602700e+02] [ 7.68371645e-02 9.97042225e-01 -1.68850843e-03 8.46712392e-01] [ 1.98971093e-02 1.59809358e-04 9.99802020e-01 7.00288849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:0.85, Z:0.70 [[ 9.96838226e-01 -7.69447258e-02 -1.98257568e-02 2.11661245e+02] [ 7.69263074e-02 9.97035347e-01 -1.69111211e-03 8.53800826e-01] [ 1.98971024e-02 1.60642938e-04 9.99802020e-01 7.01298299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.72, Y:0.86, Z:0.70 [[ 9.96555264e-01 -8.05267224e-02 -1.98255340e-02 2.11719485e+02] [ 8.05089607e-02 9.96752446e-01 -1.69371980e-03 8.56640890e-01] [ 1.98975392e-02 9.17522455e-05 9.99802020e-01 7.02014362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:0.86, Z:0.70 [[ 9.96380987e-01 -8.26552384e-02 -1.98252542e-02 2.11778834e+02] [ 8.26378329e-02 9.96578200e-01 -1.69698865e-03 8.58951579e-01] [ 1.98976811e-02 5.25311803e-05 9.99802020e-01 7.03084391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.84, Y:0.86, Z:0.70 [[ 9.96357534e-01 -8.29375089e-02 -1.98250853e-02 2.11837305e+02] [ 8.29201200e-02 9.96554749e-01 -1.69895911e-03 8.63176054e-01] [ 1.98976904e-02 4.88722534e-05 9.99802020e-01 7.04958454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.90, Y:0.87, Z:0.71 [[ 9.96727344e-01 -7.83682151e-02 -1.98248607e-02 2.11895880e+02] [ 7.83498701e-02 9.96924472e-01 -1.70157580e-03 8.66615940e-01] [ 1.98972383e-02 1.42731861e-04 9.99802020e-01 7.05710410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.95, Y:0.87, Z:0.72 [[ 9.97065370e-01 -7.39434309e-02 -1.98246390e-02 2.11954176e+02] [ 7.39241599e-02 9.97262410e-01 -1.70415545e-03 8.72742041e-01] [ 1.98963784e-02 2.33634603e-04 9.99802020e-01 7.23081983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.01, Y:0.88, Z:0.71 [[ 9.97266908e-01 -7.11737641e-02 -1.98244716e-02 2.12013823e+02] [ 7.11539072e-02 9.97463889e-01 -1.70609999e-03 8.79595700e-01] [ 1.98956241e-02 2.90848446e-04 9.99802020e-01 7.05767082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.07, Y:0.89, Z:0.71 [[ 9.97429525e-01 -6.88573752e-02 -1.98243577e-02 2.12072059e+02] [ 6.88370346e-02 9.97626457e-01 -1.70742256e-03 8.87328910e-01] [ 1.98948724e-02 3.38383673e-04 9.99802020e-01 7.07480627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.13, Y:0.90, Z:0.71 [[ 9.97877505e-01 -6.20281219e-02 -1.98241318e-02 2.12129812e+02] [ 6.20063817e-02 9.98074288e-01 -1.71004168e-03 9.00310337e-01] [ 1.98920269e-02 4.77189441e-04 9.99802020e-01 7.11048164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.19, Y:0.91, Z:0.71 [[ 9.98127838e-01 -5.78604481e-02 -1.98239084e-02 2.12187250e+02] [ 5.78378350e-02 9.98324522e-01 -1.71262766e-03 9.13022519e-01] [ 1.98897873e-02 5.62849404e-04 9.99802020e-01 7.11760905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.24, Y:0.92, Z:0.71 [[ 9.98127862e-01 -5.78601281e-02 -1.98236231e-02 2.12244173e+02] [ 5.78374495e-02 9.98324539e-01 -1.71592371e-03 9.23164307e-01] [ 1.98896929e-02 5.66163466e-04 9.99802020e-01 7.11693655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.30, Y:0.93, Z:0.71 [[ 9.97717851e-01 -6.45455494e-02 -1.98232840e-02 2.12302699e+02] [ 6.45241114e-02 9.97914666e-01 -1.71983208e-03 9.34084513e-01] [ 1.98929534e-02 4.36827383e-04 9.99802020e-01 7.14061090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.36, Y:0.94, Z:0.71 [[ 9.97320860e-01 -7.04141252e-02 -1.98230559e-02 2.12361407e+02] [ 7.03937932e-02 9.97517793e-01 -1.72245768e-03 9.40854182e-01] [ 1.98951363e-02 3.22422883e-04 9.99802020e-01 7.14833245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.42, Y:0.95, Z:0.72 [[ 9.97052626e-01 -7.41155552e-02 -1.98228295e-02 2.12420179e+02] [ 7.40959027e-02 9.97249628e-01 -1.72505848e-03 9.48278878e-01] [ 1.98961631e-02 2.51183642e-04 9.99802020e-01 7.15911689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.48, Y:0.95, Z:0.72 [[ 9.96627195e-01 -7.96322683e-02 -1.98226032e-02 2.12478933e+02] [ 7.96136546e-02 9.96824298e-01 -1.72765524e-03 9.52291432e-01] [ 1.98972296e-02 1.43678308e-04 9.99802020e-01 7.17925877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.54, Y:0.96, Z:0.72 [[ 9.96265744e-01 -8.40335728e-02 -1.98223756e-02 2.12537777e+02] [ 8.40157780e-02 9.96462922e-01 -1.73026251e-03 9.56249719e-01] [ 1.98976625e-02 5.84089535e-05 9.99802020e-01 7.18095209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.60, Y:0.96, Z:0.72 [[ 9.95820685e-01 -8.91529301e-02 -1.98221449e-02 2.12596321e+02] [ 8.91360965e-02 9.96017948e-01 -1.73290134e-03 9.59706292e-01] [ 1.98977054e-02 -4.12096245e-05 9.99802020e-01 7.19606732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.66, Y:0.96, Z:0.72 [[ 9.95517282e-01 -9.24793664e-02 -1.98219200e-02 2.12655592e+02] [ 9.24631408e-02 9.95714596e-01 -1.73547032e-03 9.59501932e-01] [ 1.98974703e-02 -1.05106289e-04 9.99802020e-01 7.21667452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.71, Y:0.96, Z:0.74 [[ 9.95091637e-01 -9.69522277e-02 -1.98216955e-02 2.12713891e+02] [ 9.69368380e-02 9.95289018e-01 -1.73803050e-03 9.58780373e-01] [ 1.98968218e-02 -1.91952872e-04 9.99802020e-01 7.38941874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:212.77, Y:0.96, Z:0.73 [[ 9.94535746e-01 -1.02497613e-01 -1.98214155e-02 2.12773433e+02] [ 1.02483260e-01 9.94733205e-01 -1.74121783e-03 9.55046191e-01] [ 1.98954909e-02 -2.99659916e-04 9.99802020e-01 7.34044092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.83, Y:0.95, Z:0.72 [[ 9.94427524e-01 -1.03542361e-01 -1.98211923e-02 2.12833841e+02] [ 1.03528165e-01 9.94624994e-01 -1.74375531e-03 9.54485299e-01] [ 1.98952058e-02 -3.18013393e-04 9.99802020e-01 7.22782163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.89, Y:0.95, Z:0.73 [[ 9.94267176e-01 -1.05070962e-01 -1.98210826e-02 2.12893226e+02] [ 1.05057045e-01 9.94464666e-01 -1.74500146e-03 9.46061592e-01] [ 1.98947153e-02 -3.47346690e-04 9.99802020e-01 7.26027183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.95, Y:0.94, Z:0.73 [[ 9.94384666e-01 -1.03953206e-01 -1.98208617e-02 2.12952730e+02] [ 1.03939017e-01 9.94582137e-01 -1.74750639e-03 9.44890964e-01] [ 1.98951339e-02 -3.22467327e-04 9.99802020e-01 7.28001959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:0.94, Z:0.74 [[ 9.94200787e-01 -1.05697382e-01 -1.98206388e-02 2.13011399e+02] [ 1.05683489e-01 9.94398279e-01 -1.75003146e-03 9.39424768e-01] [ 1.98945829e-02 -3.54831610e-04 9.99802020e-01 7.43504065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:0.93, Z:0.73 [[ 9.94898705e-01 -9.89126861e-02 -1.98203589e-02 2.13071064e+02] [ 9.88973832e-02 9.95096093e-01 -1.75319530e-03 9.33911555e-01] [ 1.98965750e-02 -2.15929901e-04 9.99802020e-01 7.31281192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:0.93, Z:0.73 [[ 9.95370881e-01 -9.40423883e-02 -1.98201366e-02 2.13129664e+02] [ 9.40260696e-02 9.95568187e-01 -1.75570575e-03 9.28332662e-01] [ 1.98974082e-02 -1.16031165e-04 9.99802020e-01 7.30961823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:213.19, Y:0.93, Z:0.75 [[ 9.95822299e-01 -8.91354328e-02 -1.98197951e-02 2.13188977e+02] [ 8.91180652e-02 9.96019515e-01 -1.75955252e-03 9.32788395e-01] [ 1.98977411e-02 -1.41001570e-05 9.99802020e-01 7.46146130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:0.94, Z:0.73 [[ 9.96980505e-01 -7.50803167e-02 -1.98196791e-02 2.13249448e+02] [ 7.50601431e-02 9.97177454e-01 -1.76085814e-03 9.36175724e-01] [ 1.98959429e-02 2.67873290e-04 9.99802020e-01 7.32418471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.31, Y:0.94, Z:0.73 [[ 9.97501216e-01 -6.78122829e-02 -1.98196220e-02 2.13307167e+02] [ 6.77906617e-02 9.97698012e-01 -1.76150044e-03 9.40209439e-01] [ 1.98934488e-02 4.13513542e-04 9.99802020e-01 7.34157365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.36, Y:0.95, Z:0.73 [[ 9.97920367e-01 -6.13362672e-02 -1.98192733e-02 2.13364930e+02] [ 6.13132914e-02 9.98117009e-01 -1.76541481e-03 9.50535050e-01] [ 1.98902377e-02 5.46558518e-04 9.99802020e-01 7.34680577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:213.42, Y:0.96, Z:0.74 [[ 9.98214974e-01 -5.63388979e-02 -1.98190395e-02 2.13422877e+02] [ 5.63148859e-02 9.98411492e-01 -1.76803530e-03 9.62219609e-01] [ 1.98871660e-02 6.48772361e-04 9.99802020e-01 7.36668416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.48, Y:0.97, Z:0.74 [[ 9.98251287e-01 -5.56918574e-02 -1.98188089e-02 2.13480948e+02] [ 5.56676668e-02 9.98447783e-01 -1.77061665e-03 9.73027121e-01] [ 1.98866548e-02 6.64253500e-04 9.99802020e-01 7.38729026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:0.98, Z:0.74 [[ 9.98078909e-01 -5.87002161e-02 -1.98185791e-02 2.13538761e+02] [ 5.86765670e-02 9.98275471e-01 -1.77318472e-03 9.82955638e-01] [ 1.98884878e-02 6.06892086e-04 9.99802020e-01 7.40275829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.60, Y:1.00, Z:0.74 [[ 9.97826054e-01 -6.28522029e-02 -1.98183496e-02 2.13596324e+02] [ 6.28293208e-02 9.98022707e-01 -1.77574689e-03 9.96914828e-01] [ 1.98907725e-02 5.26713073e-04 9.99802020e-01 7.39489091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:1.00, Z:0.74 [[ 9.97686733e-01 -6.50263386e-02 -1.98181174e-02 2.13654856e+02] [ 6.50038337e-02 9.97883430e-01 -1.77833459e-03 1.00496434e+00] [ 1.98918095e-02 4.85967224e-04 9.99802020e-01 7.41603312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.71, Y:1.02, Z:0.74 [[ 9.97604189e-01 -6.62807156e-02 -1.98178827e-02 2.13712261e+02] [ 6.62584062e-02 9.97800908e-01 -1.78094630e-03 1.01792874e+00] [ 1.98923437e-02 4.63578167e-04 9.99802020e-01 7.43406500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.77, Y:1.02, Z:0.74 [[ 9.97437393e-01 -6.87452792e-02 -1.98175266e-02 2.13770825e+02] [ 6.87233774e-02 9.97634157e-01 -1.78490009e-03 1.02464177e+00] [ 1.98933449e-02 4.18398737e-04 9.99802020e-01 7.42901071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:1.04, Z:0.74 [[ 9.97185315e-01 -7.23099080e-02 -1.98172886e-02 2.13828553e+02] [ 7.22886573e-02 9.97382151e-01 -1.78753778e-03 1.03802855e+00] [ 1.98946667e-02 3.49941235e-04 9.99802020e-01 7.44706933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.89, Y:1.05, Z:0.75 [[ 9.97094051e-01 -7.35577160e-02 -1.98170496e-02 2.13887192e+02] [ 7.35366589e-02 9.97290908e-01 -1.79018423e-03 1.04534925e+00] [ 1.98950452e-02 3.27702432e-04 9.99802020e-01 7.45976884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.95, Y:1.05, Z:0.75 [[ 9.96804652e-01 -7.73807440e-02 -1.98168135e-02 2.13945610e+02] [ 7.73603901e-02 9.97001583e-01 -1.79279328e-03 1.05241980e+00] [ 1.98961221e-02 2.54028256e-04 9.99802020e-01 7.46346266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.00, Y:1.06, Z:0.76 [[ 9.96372559e-01 -8.27588505e-02 -1.98165714e-02 2.14004312e+02] [ 8.27395066e-02 9.96569591e-01 -1.79546533e-03 1.05569480e+00] [ 1.98971831e-02 1.49339047e-04 9.99802020e-01 7.60591465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.06, Y:1.07, Z:0.75 [[ 9.96151709e-01 -8.53761299e-02 -1.98163928e-02 2.14062560e+02] [ 8.53572644e-02 9.96348788e-01 -1.79743520e-03 1.06525773e+00] [ 1.98974970e-02 9.90450654e-05 9.99802020e-01 7.49939061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.12, Y:1.07, Z:0.75 [[ 9.96003304e-01 -8.70904080e-02 -1.98161494e-02 2.14120907e+02] [ 8.70718285e-02 9.96200410e-01 -1.80011409e-03 1.06888988e+00] [ 1.98976288e-02 6.74912181e-05 9.99802020e-01 7.49374927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.18, Y:1.07, Z:0.75 [[ 9.95721976e-01 -9.02500727e-02 -1.98159104e-02 2.14179989e+02] [ 9.02320663e-02 9.95919135e-01 -1.80274080e-03 1.07343141e+00] [ 1.98977419e-02 6.99808200e-06 9.99802020e-01 7.52182449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96232058799998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:214.24, Y:1.08, Z:0.77 [[ 9.95640421e-01 -9.11454419e-02 -1.98156737e-02 2.14237507e+02] [ 9.11275612e-02 9.95837591e-01 -1.80533913e-03 1.08118051e+00] [ 1.98977412e-02 -8.28540589e-06 9.99802020e-01 7.69376969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:1.09, Z:0.75 [[ 9.95666028e-01 -9.08653591e-02 -1.98153519e-02 2.14295987e+02] [ 9.08473527e-02 9.95863187e-01 -1.80886494e-03 1.08801538e+00] [ 1.98977426e-02 8.53110040e-07 9.99802020e-01 7.53471430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:1.09, Z:0.75 [[ 9.95552564e-01 -9.21002353e-02 -1.98151147e-02 2.14354933e+02] [ 9.20824219e-02 9.95749741e-01 -1.81145871e-03 1.09364082e+00] [ 1.98977311e-02 -2.12213889e-05 9.99802020e-01 7.54308895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.41, Y:1.10, Z:0.76 [[ 9.95335376e-01 -9.44185348e-02 -1.98148763e-02 2.14413612e+02] [ 9.44011288e-02 9.95532589e-01 -1.81406298e-03 1.09796294e+00] [ 1.98976363e-02 -6.49456319e-05 9.99802020e-01 7.56079779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.47, Y:1.10, Z:0.76 [[ 9.95178562e-01 -9.60573229e-02 -1.98146397e-02 2.14472239e+02] [ 9.60401902e-02 9.95375799e-01 -1.81664379e-03 1.10366003e+00] [ 1.98975148e-02 -9.51168131e-05 9.99802020e-01 7.56838740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.53, Y:1.11, Z:0.76 [[ 9.94999569e-01 -9.78940607e-02 -1.98144008e-02 2.14531502e+02] [ 9.78772403e-02 9.95196833e-01 -1.81924598e-03 1.10513226e+00] [ 1.98973223e-02 -1.29229902e-04 9.99802020e-01 7.60210590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322320588 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:1.10, Z:0.78 [[ 9.94758797e-01 -1.00311190e-01 -1.98141661e-02 2.14591910e+02] [ 1.00294798e-01 9.94956097e-01 -1.82179890e-03 1.10236609e+00] [ 1.98969721e-02 -1.75007299e-04 9.99802020e-01 7.83675708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:1.10, Z:0.76 [[ 9.94726988e-01 -1.00626141e-01 -1.98141069e-02 2.14653197e+02] [ 1.00609798e-01 9.94924292e-01 -1.82244261e-03 1.10060334e+00] [ 1.98969216e-02 -1.80660448e-04 9.99802020e-01 7.61449196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:1.10, Z:0.76 [[ 9.94937032e-01 -9.85276886e-02 -1.98140471e-02 2.14711854e+02] [ 9.85109172e-02 9.95134300e-01 -1.82309257e-03 1.10336687e+00] [ 1.98972629e-02 -1.38037634e-04 9.99802020e-01 7.64666111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:1.11, Z:0.77 [[ 9.95646692e-01 -9.10773175e-02 -1.98138114e-02 2.14770340e+02] [ 9.10590190e-02 9.95843824e-01 -1.82564980e-03 1.10600619e+00] [ 1.98977370e-02 1.34759480e-05 9.99802020e-01 7.65137575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:1.11, Z:0.76 [[ 9.96254815e-01 -8.41651165e-02 -1.98135715e-02 2.14828663e+02] [ 8.41453986e-02 9.96451810e-01 -1.82824987e-03 1.11116007e+00] [ 1.98971441e-02 1.54181857e-04 9.99802020e-01 7.64883211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:1.12, Z:0.77 [[ 9.96576356e-01 -8.02682907e-02 -1.98133317e-02 2.14887621e+02] [ 8.02477510e-02 9.96773267e-01 -1.83084541e-03 1.11692596e+00] [ 1.98963582e-02 2.34601937e-04 9.99802020e-01 7.67751815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:214.95, Y:1.13, Z:0.77 [[ 9.96828382e-01 -7.70754074e-02 -1.98130886e-02 2.14945376e+02] [ 7.70541848e-02 9.97025221e-01 -1.83347174e-03 1.12575213e+00] [ 1.98954647e-02 3.00975273e-04 9.99802020e-01 7.69753714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:1.13, Z:0.77 [[ 9.96906096e-01 -7.60637027e-02 -1.98128465e-02 2.15003352e+02] [ 7.60422284e-02 9.97102908e-01 -1.83608481e-03 1.13144619e+00] [ 1.98951062e-02 3.23791142e-04 9.99802020e-01 7.69881966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:1.14, Z:0.77 [[ 9.96971931e-01 -7.51959684e-02 -1.98124806e-02 2.15061941e+02] [ 7.51742446e-02 9.97168716e-01 -1.84002450e-03 1.13646594e+00] [ 1.98947483e-02 3.45064521e-04 9.99802020e-01 7.71979083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862320588 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:215.12, Y:1.15, Z:0.80 [[ 9.96767119e-01 -7.78638970e-02 -1.98122365e-02 2.15120329e+02] [ 7.78426477e-02 9.96963955e-01 -1.84264867e-03 1.14647543e+00] [ 1.98955615e-02 2.94454659e-04 9.99802020e-01 7.95124516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:1.15, Z:0.77 [[ 9.96739818e-01 -7.82126322e-02 -1.98121135e-02 2.15180134e+02] [ 7.81914255e-02 9.96936658e-01 -1.84397042e-03 1.15247531e+00] [ 1.98956440e-02 2.88821346e-04 9.99802020e-01 7.73065627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:1.16, Z:0.79 [[ 9.96623521e-01 -7.96808725e-02 -1.98119908e-02 2.15237800e+02] [ 7.96599296e-02 9.96820390e-01 -1.84528778e-03 1.15851996e+00] [ 1.98960306e-02 2.60835408e-04 9.99802020e-01 7.91092089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:1.17, Z:0.78 [[ 9.96371251e-01 -8.27757706e-02 -1.98116863e-02 2.15296619e+02] [ 8.27553744e-02 9.96568177e-01 -1.84855124e-03 1.16708813e+00] [ 1.98967114e-02 2.02319791e-04 9.99802020e-01 7.76986070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.36, Y:1.17, Z:0.78 [[ 9.96125097e-01 -8.56872063e-02 -1.98114361e-02 2.15355338e+02] [ 8.56673324e-02 9.96322077e-01 -1.85122898e-03 1.17381921e+00] [ 1.98971978e-02 1.46862767e-04 9.99802020e-01 7.77766183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.41, Y:1.18, Z:0.78 [[ 9.95540242e-01 -9.22341764e-02 -1.98111894e-02 2.15414072e+02] [ 9.22155455e-02 9.95737343e-01 -1.85386585e-03 1.17685285e+00] [ 1.98977308e-02 1.86984288e-05 9.99802020e-01 7.78085238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:1.18, Z:0.78 [[ 9.95130861e-01 -9.65509992e-02 -1.98109433e-02 2.15472921e+02] [ 9.65331710e-02 9.95328037e-01 -1.85649190e-03 1.18005978e+00] [ 1.98976334e-02 -6.49607876e-05 9.99802020e-01 7.80966560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:1.18, Z:0.78 [[ 9.94425782e-01 -1.03561093e-01 -1.98106995e-02 2.15531953e+02] [ 1.03544603e-01 9.94623074e-01 -1.85908910e-03 1.18160948e+00] [ 1.98967082e-02 -2.02564891e-04 9.99802020e-01 7.82649887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:215.59, Y:1.18, Z:0.80 [[ 9.93970336e-01 -1.07844872e-01 -1.98104569e-02 2.15590777e+02] [ 1.07829181e-01 9.94167693e-01 -1.86167135e-03 1.18359694e+00] [ 1.98956879e-02 -2.85699242e-04 9.99802020e-01 7.98081611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:1.18, Z:0.79 [[ 9.93842207e-01 -1.09019370e-01 -1.98102163e-02 2.15650525e+02] [ 1.09003861e-01 9.94039578e-01 -1.86422810e-03 1.18309927e+00] [ 1.98953760e-02 -3.06641484e-04 9.99802020e-01 7.94241926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:1.18, Z:0.78 [[ 9.93471572e-01 -1.12346766e-01 -1.98100972e-02 2.15710244e+02] [ 1.12331893e-01 9.93668992e-01 -1.86549272e-03 1.18008949e+00] [ 1.98942614e-02 -3.71991727e-04 9.99802020e-01 7.83210232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.77, Y:1.18, Z:0.78 [[ 9.93328793e-01 -1.13602279e-01 -1.98098632e-02 2.15769160e+02] [ 1.13587606e-01 9.93526228e-01 -1.86797415e-03 1.17818606e+00] [ 1.98938248e-02 -3.94642431e-04 9.99802020e-01 7.83615003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.83, Y:1.17, Z:0.78 [[ 9.93414413e-01 -1.12851150e-01 -1.98096249e-02 2.15828898e+02] [ 1.12836277e-01 9.93611834e-01 -1.87049736e-03 1.17252241e+00] [ 1.98941655e-02 -3.77065300e-04 9.99802020e-01 7.84031595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.642320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:1.18, Z:0.80 [[ 9.94057932e-01 -1.07034650e-01 -1.98093850e-02 2.15886850e+02] [ 1.07018571e-01 9.94255258e-01 -1.87303524e-03 1.17582588e+00] [ 1.98960648e-02 -2.58066544e-04 9.99802020e-01 8.03151876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:1.17, Z:0.79 [[ 9.94750747e-01 -1.00391991e-01 -1.98090850e-02 2.15946230e+02] [ 1.00374531e-01 9.94947955e-01 -1.87620263e-03 1.17370670e+00] [ 1.98973643e-02 -1.21973655e-04 9.99802020e-01 7.87141170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:1.17, Z:0.79 [[ 9.95236692e-01 -9.54543672e-02 -1.98088425e-02 2.16004848e+02] [ 9.54358785e-02 9.95433807e-01 -1.87875921e-03 1.17392082e+00] [ 1.98977273e-02 -2.06641888e-05 9.99802020e-01 7.89042558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:1.18, Z:0.79 [[ 9.95834050e-01 -8.90065395e-02 -1.98085952e-02 2.16063099e+02] [ 8.89867227e-02 9.96031035e-01 -1.88136313e-03 1.17889840e+00] [ 1.98974292e-02 1.10823501e-04 9.99802020e-01 7.88314123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:1.18, Z:0.79 [[ 9.96298872e-01 -8.36432171e-02 -1.98083436e-02 2.16121960e+02] [ 8.36222874e-02 9.96495742e-01 -1.88400842e-03 1.17998229e+00] [ 1.98965146e-02 2.20616467e-04 9.99802020e-01 7.91196817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:1.19, Z:0.80 [[ 9.96899818e-01 -7.61471735e-02 -1.98080931e-02 2.16179322e+02] [ 7.61247114e-02 9.97096519e-01 -1.88663820e-03 1.18824246e+00] [ 1.98942429e-02 3.72903908e-04 9.99802020e-01 7.95902858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:216.24, Y:1.19, Z:0.79 [[ 9.97090815e-01 -7.36040874e-02 -1.98077134e-02 2.16237742e+02] [ 7.35810446e-02 9.97287449e-01 -1.89061648e-03 1.19489719e+00] [ 1.98931411e-02 4.27644084e-04 9.99802020e-01 7.92435003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:216.30, Y:1.20, Z:0.79 [[ 9.97195675e-01 -7.21695940e-02 -1.98074614e-02 2.16296663e+02] [ 7.21462160e-02 9.97392269e-01 -1.89325336e-03 1.20125606e+00] [ 1.98924442e-02 4.58910672e-04 9.99802020e-01 7.94993322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.36, Y:1.21, Z:0.80 [[ 9.97284442e-01 -7.09324747e-02 -1.98072097e-02 2.16355394e+02] [ 7.09088007e-02 9.97481001e-01 -1.89588302e-03 1.20840045e+00] [ 1.98917950e-02 4.86229155e-04 9.99802020e-01 7.98958381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:216.41, Y:1.22, Z:0.81 [[ 9.97274205e-01 -7.10763221e-02 -1.98069582e-02 2.16413551e+02] [ 7.10526244e-02 9.97470762e-01 -1.89850599e-03 1.21694351e+00] [ 1.98918005e-02 4.85994691e-04 9.99802020e-01 8.13703141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.47, Y:1.23, Z:0.81 [[ 9.97406036e-01 -6.92018279e-02 -1.98067050e-02 2.16472015e+02] [ 6.91777084e-02 9.97602541e-01 -1.90114434e-03 1.22792309e+00] [ 1.98907819e-02 5.26030374e-04 9.99802020e-01 8.09994795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.53, Y:1.24, Z:0.80 [[ 9.97514292e-01 -6.76235269e-02 -1.98064554e-02 2.16530675e+02] [ 6.75990450e-02 9.97710752e-01 -1.90374146e-03 1.23821025e+00] [ 1.98898512e-02 5.60111851e-04 9.99802020e-01 8.01811632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362320588 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:216.59, Y:1.25, Z:0.82 [[ 9.97556804e-01 -6.69935479e-02 -1.98062671e-02 2.16588198e+02] [ 6.69689031e-02 9.97753243e-01 -1.90569862e-03 1.25008334e+00] [ 1.98894367e-02 5.74638645e-04 9.99802020e-01 8.22341007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:216.65, Y:1.26, Z:0.82 [[ 9.97703758e-01 -6.47683089e-02 -1.98060148e-02 2.16645755e+02] [ 6.47431741e-02 9.97900135e-01 -1.90831689e-03 1.26443910e+00] [ 1.98880233e-02 6.21630670e-04 9.99802020e-01 8.17164758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:216.70, Y:1.28, Z:0.82 [[ 9.97770500e-01 -6.37319422e-02 -1.98057576e-02 2.16704262e+02] [ 6.37065505e-02 9.97966845e-01 -1.91098274e-03 1.27599831e+00] [ 1.98872800e-02 6.44965710e-04 9.99802020e-01 8.24814323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.76, Y:1.29, Z:0.81 [[ 9.97671934e-01 -6.52567896e-02 -1.98056276e-02 2.16763683e+02] [ 6.52316713e-02 9.97868314e-01 -1.91232913e-03 1.28589393e+00] [ 1.98882007e-02 6.15922916e-04 9.99802020e-01 8.07365539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.82, Y:1.30, Z:0.81 [[ 9.97420179e-01 -6.89980205e-02 -1.98055663e-02 2.16820896e+02] [ 6.89736264e-02 9.97616650e-01 -1.91296305e-03 1.30156393e+00] [ 1.98903534e-02 5.41966215e-04 9.99802020e-01 8.08325336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:216.88, Y:1.31, Z:0.83 [[ 9.97336335e-01 -7.01996049e-02 -1.98053139e-02 2.16879479e+02] [ 7.01753957e-02 9.97532829e-01 -1.91557261e-03 1.31255336e+00] [ 1.98909233e-02 5.20624424e-04 9.99802020e-01 8.25710356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:216.94, Y:1.33, Z:0.83 [[ 9.97342407e-01 -7.01133271e-02 -1.98051864e-02 2.16936124e+02] [ 7.00890747e-02 9.97538895e-01 -1.91689054e-03 1.32518358e+00] [ 1.98908433e-02 5.23669039e-04 9.99802020e-01 8.30341381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:216.99, Y:1.34, Z:0.83 [[ 9.97312002e-01 -7.05445947e-02 -1.98047999e-02 2.16993994e+02] [ 7.05203483e-02 9.97508492e-01 -1.92087528e-03 1.33612098e+00] [ 1.98909634e-02 5.19070589e-04 9.99802020e-01 8.33107543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.05, Y:1.35, Z:0.82 [[ 9.96981702e-01 -7.50684124e-02 -1.98045434e-02 2.17052546e+02] [ 7.50450051e-02 9.97178293e-01 -1.92351591e-03 1.35084595e+00] [ 1.98930561e-02 4.31478105e-04 9.99802020e-01 8.15523485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.11, Y:1.36, Z:0.82 [[ 9.96590431e-01 -8.00955714e-02 -1.98043530e-02 2.17111295e+02] [ 8.00731170e-02 9.96787133e-01 -1.92547503e-03 1.35927998e+00] [ 1.98949462e-02 3.33113722e-04 9.99802020e-01 8.15116905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:217.17, Y:1.37, Z:0.82 [[ 9.96294844e-01 -8.36921887e-02 -1.98040956e-02 2.17169220e+02] [ 8.36703919e-02 9.96491620e-01 -1.92811818e-03 1.36870079e+00] [ 1.98959838e-02 2.63957759e-04 9.99802020e-01 8.16377877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.23, Y:1.38, Z:0.82 [[ 9.96012606e-01 -8.69867590e-02 -1.98038386e-02 2.17227528e+02] [ 8.69655607e-02 9.96209448e-01 -1.93075407e-03 1.37975472e+00] [ 1.98967212e-02 2.00803467e-04 9.99802020e-01 8.18567582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:217.29, Y:1.39, Z:0.83 [[ 9.95821408e-01 -8.91489817e-02 -1.98035824e-02 2.17285865e+02] [ 8.91281586e-02 9.96018290e-01 -1.93337865e-03 1.38951670e+00] [ 1.98970890e-02 1.60243016e-04 9.99802020e-01 8.33621963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.142320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:217.34, Y:1.40, Z:0.83 [[ 9.95370302e-01 -9.40520846e-02 -1.98032005e-02 2.17343580e+02] [ 9.40321537e-02 9.95567276e-01 -1.93728278e-03 1.40227115e+00] [ 1.98976238e-02 6.61761512e-05 9.99802020e-01 8.33777364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.40, Y:1.41, Z:0.82 [[ 9.94692971e-01 -1.00964035e-01 -1.98029429e-02 2.17403045e+02] [ 1.00945420e-01 9.94890074e-01 -1.93991237e-03 1.40747883e+00] [ 1.98976127e-02 -6.93991979e-05 9.99802020e-01 8.19690825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.46, Y:1.42, Z:0.82 [[ 9.94390207e-01 -1.03903628e-01 -1.98028136e-02 2.17461495e+02] [ 1.03885570e-01 9.94587362e-01 -1.94123117e-03 1.41837582e+00] [ 1.98973291e-02 -1.26885306e-04 9.99802020e-01 8.22122336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.52, Y:1.42, Z:0.83 [[ 9.94041317e-01 -1.07190081e-01 -1.98026876e-02 2.17520376e+02] [ 1.07172649e-01 9.94238528e-01 -1.94251530e-03 1.42379329e+00] [ 1.98968134e-02 -1.91366038e-04 9.99802021e-01 8.26230962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.58, Y:1.43, Z:0.83 [[ 9.93808217e-01 -1.09330169e-01 -1.98025627e-02 2.17579801e+02] [ 1.09313136e-01 9.94005463e-01 -1.94378778e-03 1.42781247e+00] [ 1.98963702e-02 -2.32927967e-04 9.99802021e-01 8.25938321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.64, Y:1.43, Z:0.82 [[ 9.93350649e-01 -1.13412306e-01 -1.98024375e-02 2.17639172e+02] [ 1.13396058e-01 9.93547961e-01 -1.94506241e-03 1.43004653e+00] [ 1.98952655e-02 -3.13389353e-04 9.99802021e-01 8.24671009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.70, Y:1.42, Z:0.83 [[ 9.92883063e-01 -1.17435480e-01 -1.98023149e-02 2.17699772e+02] [ 1.17420007e-01 9.93080437e-01 -1.94631060e-03 1.42066059e+00] [ 1.98938574e-02 -3.92729127e-04 9.99802021e-01 8.26650352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.76, Y:1.42, Z:0.83 [[ 9.93140241e-01 -1.15240333e-01 -1.98021919e-02 2.17759382e+02] [ 1.15224399e-01 9.93337579e-01 -1.94756064e-03 1.42476334e+00] [ 1.98946989e-02 -3.47494817e-04 9.99802021e-01 8.28593232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.82, Y:1.42, Z:0.83 [[ 9.94441077e-01 -1.03415770e-01 -1.98020703e-02 2.17819027e+02] [ 1.03397464e-01 9.94638209e-01 -1.94879669e-03 1.42381648e+00] [ 1.98974320e-02 -1.09520375e-04 9.99802021e-01 8.26984196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.88, Y:1.43, Z:0.83 [[ 9.95104302e-01 -9.68262167e-02 -1.98018213e-02 2.17877763e+02] [ 9.68065555e-02 9.95301303e-01 -1.95132360e-03 1.42626162e+00] [ 1.98977178e-02 2.48244034e-05 9.99802021e-01 8.28525868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.94, Y:1.43, Z:0.83 [[ 9.95810824e-01 -8.92675796e-02 -1.98015655e-02 2.17936138e+02] [ 8.92463717e-02 9.96007664e-01 -1.95391560e-03 1.43006879e+00] [ 1.98969323e-02 1.78512432e-04 9.99802021e-01 8.29846673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.99, Y:1.44, Z:0.83 [[ 9.96289158e-01 -8.37605008e-02 -1.98013088e-02 2.17994497e+02] [ 8.37381532e-02 9.96485872e-01 -1.95651358e-03 1.43999647e+00] [ 1.98956030e-02 2.91128235e-04 9.99802021e-01 8.32910935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.05, Y:1.45, Z:0.83 [[ 9.96586677e-01 -8.01430839e-02 -1.98010487e-02 2.18052413e+02] [ 8.01199702e-02 9.96783303e-01 -1.95914242e-03 1.45092135e+00] [ 1.98943664e-02 3.65995802e-04 9.99802021e-01 8.33994300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.11, Y:1.46, Z:0.85 [[ 9.96912647e-01 -7.59809437e-02 -1.98007893e-02 2.18110506e+02] [ 7.59569570e-02 9.97109168e-01 -1.96176049e-03 1.45954810e+00] [ 1.98926050e-02 4.51696142e-04 9.99802021e-01 8.49207349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.17, Y:1.47, Z:0.84 [[ 9.96916525e-01 -7.59301075e-02 -1.98005274e-02 2.18168478e+02] [ 7.59060585e-02 9.97113038e-01 -1.96440059e-03 1.46848168e+00] [ 1.98925212e-02 4.55363419e-04 9.99802021e-01 8.37448215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.23, Y:1.48, Z:0.85 [[ 9.96872882e-01 -7.65010456e-02 -1.98001974e-02 2.18225300e+02] [ 7.64770432e-02 9.97069401e-01 -1.96772064e-03 1.48258534e+00] [ 1.98927037e-02 4.47306791e-04 9.99802021e-01 8.50923307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.28, Y:1.49, Z:0.84 [[ 9.96811552e-01 -7.72961721e-02 -1.97998035e-02 2.18283017e+02] [ 7.72722479e-02 9.97008080e-01 -1.97167710e-03 1.49422826e+00] [ 1.98929671e-02 4.35415188e-04 9.99802021e-01 8.39690765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.34, Y:1.50, Z:0.84 [[ 9.96651686e-01 -7.93309147e-02 -1.97995402e-02 2.18340893e+02] [ 7.93073394e-02 9.96848257e-01 -1.97431706e-03 1.50365133e+00] [ 1.98937615e-02 3.97457575e-04 9.99802021e-01 8.39337832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.40, Y:1.51, Z:0.84 [[ 9.96129873e-01 -8.56344784e-02 -1.97992788e-02 2.18399044e+02] [ 8.56120950e-02 9.96326583e-01 -1.97693494e-03 1.51135350e+00] [ 1.98958416e-02 2.74226209e-04 9.99802021e-01 8.37474509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:218.46, Y:1.52, Z:0.86 [[ 9.95944300e-01 -8.77664528e-02 -1.97990151e-02 2.18456630e+02] [ 8.77444381e-02 9.96141052e-01 -1.97957276e-03 1.52433937e+00] [ 1.98963518e-02 2.34290751e-04 9.99802021e-01 8.58125866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.52, Y:1.53, Z:0.84 [[ 9.95477260e-01 -9.29141253e-02 -1.97987505e-02 2.18515728e+02] [ 9.28930755e-02 9.95674117e-01 -1.98221519e-03 1.53244703e+00] [ 1.98972792e-02 1.34083319e-04 9.99802021e-01 8.39781410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.57, Y:1.54, Z:0.84 [[ 9.94653716e-01 -1.01350890e-01 -1.97985519e-02 2.18574477e+02] [ 1.01331470e-01 9.94850741e-01 -1.98419678e-03 1.53973890e+00] [ 1.98977042e-02 -3.26276741e-05 9.99802021e-01 8.44071625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.65, Y:1.38, Z:0.85 [[ 9.90629737e-01 -1.35132327e-01 -1.97984204e-02 2.18648593e+02] [ 1.35119596e-01 9.90827307e-01 -1.98550862e-03 1.38150871e+00] [ 1.98851219e-02 -7.08250683e-04 9.99802021e-01 8.48038742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.71, Y:1.38, Z:0.85 [[ 9.90521762e-01 -1.35921572e-01 -1.97981073e-02 2.18707260e+02] [ 1.35908936e-01 9.90719338e-01 -1.98862586e-03 1.38117383e+00] [ 1.98846649e-02 -7.20962513e-04 9.99802021e-01 8.49201689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.77, Y:1.38, Z:0.85 [[ 9.90609035e-01 -1.35284096e-01 -1.97977964e-02 2.18767162e+02] [ 1.35271271e-01 9.90806599e-01 -1.99171595e-03 1.37624746e+00] [ 1.98852348e-02 -7.05061267e-04 9.99802021e-01 8.48964278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:1.37, Z:0.85 [[ 9.91382379e-01 -1.29495314e-01 -1.97975496e-02 2.18826309e+02] [ 1.29481286e-01 9.91579861e-01 -1.99416611e-03 1.37424957e+00] [ 1.98890866e-02 -5.86431048e-04 9.99802021e-01 8.50614276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.89, Y:1.38, Z:0.87 [[ 9.91623132e-01 -1.27638670e-01 -1.97973001e-02 2.18885145e+02] [ 1.27624224e-01 9.91820584e-01 -1.99664005e-03 1.37773860e+00] [ 1.98902182e-02 -5.46700596e-04 9.99802021e-01 8.67693672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:1.38, Z:0.85 [[ 9.92641530e-01 -1.19460733e-01 -1.97971079e-02 2.18945396e+02] [ 1.19444622e-01 9.92838853e-01 -1.99854387e-03 1.37828514e+00] [ 1.98940854e-02 -3.80820420e-04 9.99802021e-01 8.54871389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.00, Y:1.38, Z:0.86 [[ 9.92949690e-01 -1.16871679e-01 -1.97970447e-02 2.19004444e+02] [ 1.16855040e-01 9.93146969e-01 -1.99916947e-03 1.38072612e+00] [ 1.98950213e-02 -3.28309753e-04 9.99802021e-01 8.55900594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.06, Y:1.38, Z:0.85 [[ 9.93058796e-01 -1.15941113e-01 -1.97961196e-02 2.19063850e+02] [ 1.15924108e-01 9.93256044e-01 -2.00828870e-03 1.38298806e+00] [ 1.98954586e-02 -3.00498742e-04 9.99802021e-01 8.54776666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:219.12, Y:1.38, Z:0.85 [[ 9.93537805e-01 -1.11762165e-01 -1.97951824e-02 2.19121995e+02] [ 1.11744147e-01 9.93734962e-01 -2.01748449e-03 1.38055143e+00] [ 1.98966432e-02 -2.07548656e-04 9.99802021e-01 8.53500771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:1.39, Z:0.86 [[ 9.93748241e-01 -1.09875506e-01 -1.97941041e-02 2.19179344e+02] [ 1.09856904e-01 9.93945344e-01 -2.02800929e-03 1.38574298e+00] [ 1.98970861e-02 -1.59188329e-04 9.99802021e-01 8.56200028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.24, Y:1.39, Z:0.86 [[ 9.94147704e-01 -1.06200656e-01 -1.97930056e-02 2.19237619e+02] [ 1.06181113e-01 9.94344716e-01 -2.03867380e-03 1.39018421e+00] [ 1.98975790e-02 -7.49004957e-05 9.99802021e-01 8.58443866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.30, Y:1.39, Z:0.86 [[ 9.94286342e-01 -1.04894956e-01 -1.97918920e-02 2.19296167e+02] [ 1.04874941e-01 9.94483306e-01 -2.04942814e-03 1.39464150e+00] [ 1.98976809e-02 -3.79550865e-05 9.99802021e-01 8.59579896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.35, Y:1.40, Z:0.86 [[ 9.94469762e-01 -1.03141707e-01 -1.97909107e-02 2.19354181e+02] [ 1.03121157e-01 9.94666672e-01 -2.05886102e-03 1.39738387e+00] [ 1.98977137e-02 6.61342603e-06 9.99802021e-01 8.59687493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.41, Y:1.40, Z:0.86 [[ 9.94743766e-01 -1.00464940e-01 -1.97897737e-02 2.19412920e+02] [ 1.00443643e-01 9.94940597e-01 -2.06973217e-03 1.40169712e+00] [ 1.98975848e-02 7.10962095e-05 9.99802021e-01 8.62701601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.47, Y:1.41, Z:0.87 [[ 9.95119860e-01 -9.66688595e-02 -1.97887883e-02 2.19470871e+02] [ 9.66466252e-02 9.95316586e-01 -2.07911122e-03 1.41056391e+00] [ 1.98970946e-02 1.56445256e-04 9.99802021e-01 8.65200680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.53, Y:1.42, Z:0.87 [[ 9.95313307e-01 -9.46565611e-02 -1.97878070e-02 2.19527975e+02] [ 9.46337443e-02 9.95509966e-01 -2.08840972e-03 1.41751456e+00] [ 1.98966407e-02 2.06027725e-04 9.99802021e-01 8.66580793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:219.59, Y:1.42, Z:0.86 [[ 9.95703530e-01 -9.04597573e-02 -1.97866948e-02 2.19586381e+02] [ 9.04359033e-02 9.95900066e-01 -2.09889424e-03 1.42327963e+00] [ 1.98954361e-02 3.00448790e-04 9.99802021e-01 8.64468230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.64, Y:1.43, Z:0.87 [[ 9.96211828e-01 -8.46789176e-02 -1.97857167e-02 2.19644324e+02] [ 8.46537410e-02 9.96408200e-01 -2.10807409e-03 1.43036427e+00] [ 1.98931598e-02 4.25153402e-04 9.99802021e-01 8.68048712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.70, Y:1.44, Z:0.87 [[ 9.96292047e-01 -8.37300418e-02 -1.97847500e-02 2.19702288e+02] [ 8.37044988e-02 9.96488372e-01 -2.11710852e-03 1.43850369e+00] [ 1.98925389e-02 4.53185802e-04 9.99802021e-01 8.68365117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.76, Y:1.45, Z:0.87 [[ 9.96481465e-01 -8.14450289e-02 -1.97837759e-02 2.19759971e+02] [ 8.14188559e-02 9.96677706e-01 -2.12617274e-03 1.44759134e+00] [ 1.98912145e-02 5.07919332e-04 9.99802021e-01 8.68130908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.82, Y:1.46, Z:0.87 [[ 9.96641141e-01 -7.94672973e-02 -1.97834351e-02 2.19818199e+02] [ 7.94406722e-02 9.96837321e-01 -2.12933899e-03 1.45858718e+00] [ 1.98900792e-02 5.50577460e-04 9.99802021e-01 8.67890515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.88, Y:1.47, Z:0.87 [[ 9.96565526e-01 -8.04102355e-02 -1.97824801e-02 2.19876101e+02] [ 8.03836207e-02 9.96761708e-01 -2.13817428e-03 1.46866256e+00] [ 1.98903498e-02 5.40643395e-04 9.99802021e-01 8.72946972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.93, Y:1.48, Z:0.87 [[ 9.96348062e-01 -8.30616119e-02 -1.97815212e-02 2.19933874e+02] [ 8.30353439e-02 9.96544290e-01 -2.14700914e-03 1.47768627e+00] [ 1.98914960e-02 4.96602975e-04 9.99802021e-01 8.72837431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.99, Y:1.49, Z:0.87 [[ 9.96261451e-01 -8.40943315e-02 -1.97804091e-02 2.19991994e+02] [ 8.40680645e-02 9.96457679e-01 -2.15720658e-03 1.48742939e+00] [ 1.98917494e-02 4.86241045e-04 9.99802021e-01 8.72326274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:1.50, Z:0.87 [[ 9.96166748e-01 -8.52090643e-02 -1.97794369e-02 2.20049990e+02] [ 8.51828408e-02 9.96362982e-01 -2.16608377e-03 1.49610339e+00] [ 1.98920687e-02 4.72911996e-04 9.99802021e-01 8.74604338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:220.11, Y:1.51, Z:0.89 [[ 9.96237746e-01 -8.43751473e-02 -1.97784612e-02 2.20108065e+02] [ 8.43485835e-02 9.96433935e-01 -2.17495693e-03 1.50571423e+00] [ 1.98914422e-02 4.98489003e-04 9.99802021e-01 8.92842857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.17, Y:1.52, Z:0.88 [[ 9.96040003e-01 -8.66783361e-02 -1.97782496e-02 2.20167134e+02] [ 8.66521878e-02 9.96236247e-01 -2.17687921e-03 1.51632438e+00] [ 1.98924974e-02 4.54430175e-04 9.99802021e-01 8.76179830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.23, Y:1.52, Z:0.89 [[ 9.95844273e-01 -8.88988718e-02 -1.97781103e-02 2.20225579e+02] [ 8.88731360e-02 9.96040572e-01 -2.17814391e-03 1.52301428e+00] [ 1.98934349e-02 4.11349454e-04 9.99802021e-01 8.88807015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.28, Y:1.53, Z:0.88 [[ 9.95717172e-01 -9.03113941e-02 -1.97778988e-02 2.20283912e+02] [ 9.02858987e-02 9.95913502e-01 -2.18006323e-03 1.53306215e+00] [ 1.98939610e-02 3.85061032e-04 9.99802021e-01 8.76428286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.34, Y:1.54, Z:0.88 [[ 9.95645184e-01 -9.11016691e-02 -1.97776153e-02 2.20342456e+02] [ 9.10762785e-02 9.95841527e-01 -2.18263235e-03 1.54233812e+00] [ 1.98942120e-02 3.71855795e-04 9.99802021e-01 8.80198049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:220.40, Y:1.55, Z:0.90 [[ 9.95671048e-01 -9.08186188e-02 -1.97773307e-02 2.20399727e+02] [ 9.07931213e-02 9.95867378e-01 -2.18520782e-03 1.55367013e+00] [ 1.98940560e-02 3.80102578e-04 9.99802021e-01 9.02320133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.46, Y:1.56, Z:0.88 [[ 9.95621432e-01 -9.13610062e-02 -1.97770426e-02 2.20458546e+02] [ 9.13355639e-02 9.95817769e-01 -2.18781164e-03 1.56472116e+00] [ 1.98942112e-02 3.71884812e-04 9.99802021e-01 8.82848867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:220.52, Y:1.57, Z:0.90 [[ 9.95594958e-01 -9.16491066e-02 -1.97767523e-02 2.20516569e+02] [ 9.16236691e-02 9.95791296e-01 -2.19043315e-03 1.57232372e+00] [ 1.98942690e-02 3.68765596e-04 9.99802021e-01 9.01435298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.57, Y:1.58, Z:0.88 [[ 9.95379033e-01 -9.39652713e-02 -1.97764609e-02 2.20574833e+02] [ 9.39402384e-02 9.95575423e-01 -2.19306128e-03 1.57925688e+00] [ 1.98950300e-02 3.25121770e-04 9.99802021e-01 8.84878235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.63, Y:1.59, Z:0.89 [[ 9.95115995e-01 -9.67112362e-02 -1.97761038e-02 2.20633206e+02] [ 9.66866814e-02 9.95312444e-01 -2.19627594e-03 1.58781859e+00] [ 1.98958068e-02 2.73463464e-04 9.99802021e-01 8.88914930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.69, Y:1.60, Z:0.89 [[ 9.94847521e-01 -9.94350366e-02 -1.97758109e-02 2.20691459e+02] [ 9.94109674e-02 9.95044031e-01 -2.19891017e-03 1.59829104e+00] [ 1.98964514e-02 2.21647835e-04 9.99802021e-01 8.90801477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.75, Y:1.61, Z:0.91 [[ 9.94823446e-01 -9.96756784e-02 -1.97755199e-02 2.20749865e+02] [ 9.96516047e-02 9.95019955e-01 -2.20152490e-03 1.60639874e+00] [ 1.98964754e-02 2.19466301e-04 9.99802021e-01 9.10536303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.81, Y:1.62, Z:0.89 [[ 9.94930687e-01 -9.85996712e-02 -1.97745495e-02 2.20808370e+02] [ 9.85752124e-02 9.95127149e-01 -2.21020673e-03 1.61548038e+00] [ 1.98961167e-02 2.49722082e-04 9.99802021e-01 8.93822081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74232058799998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:220.87, Y:1.63, Z:0.91 [[ 9.94980801e-01 -9.80927344e-02 -1.97742488e-02 2.20865987e+02] [ 9.80681222e-02 9.95177244e-01 -2.21289331e-03 1.62501804e+00] [ 1.98959512e-02 2.62562910e-04 9.99802021e-01 9.08411434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.92, Y:1.63, Z:0.89 [[ 9.95009434e-01 -9.78019316e-02 -1.97739499e-02 2.20923685e+02] [ 9.77772089e-02 9.95205862e-01 -2.21556122e-03 1.63243107e+00] [ 1.98958370e-02 2.71062689e-04 9.99802021e-01 8.94690690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:220.98, Y:1.64, Z:0.91 [[ 9.94955208e-01 -9.83521353e-02 -1.97734986e-02 2.20981618e+02] [ 9.83274414e-02 9.95151641e-01 -2.21958162e-03 1.64066829e+00] [ 1.98959302e-02 2.64106771e-04 9.99802022e-01 9.13355462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.04, Y:1.65, Z:0.90 [[ 9.94907386e-01 -9.88347829e-02 -1.97731954e-02 2.21039861e+02] [ 9.88101306e-02 9.95103824e-01 -2.22227991e-03 1.65202291e+00] [ 1.98960209e-02 2.57170678e-04 9.99802022e-01 8.97547833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.10, Y:1.66, Z:0.90 [[ 9.94824530e-01 -9.96653772e-02 -1.97729000e-02 2.21097493e+02] [ 9.96408368e-02 9.95020981e-01 -2.22490501e-03 1.66123130e+00] [ 1.98961963e-02 2.43201784e-04 9.99802022e-01 8.99648130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:221.16, Y:1.67, Z:0.92 [[ 9.94727047e-01 -1.00633739e-01 -1.97725244e-02 2.21155041e+02] [ 1.00609323e-01 9.94923514e-01 -2.22823750e-03 1.67147195e+00] [ 1.98963854e-02 2.27187804e-04 9.99802022e-01 9.17808922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.21, Y:1.68, Z:0.90 [[ 9.94512083e-01 -1.02736443e-01 -1.97722197e-02 2.21213999e+02] [ 1.02712389e-01 9.94708595e-01 -2.23093782e-03 1.68175441e+00] [ 1.98967955e-02 1.87842688e-04 9.99802022e-01 9.01713252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.27, Y:1.69, Z:0.90 [[ 9.94498903e-01 -1.02863974e-01 -1.97720700e-02 2.21272447e+02] [ 1.02839919e-01 9.94695415e-01 -2.23226391e-03 1.69019859e+00] [ 1.98968069e-02 1.86625936e-04 9.99802022e-01 9.02668807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.33, Y:1.70, Z:0.90 [[ 9.94301062e-01 -1.04759135e-01 -1.97717680e-02 2.21330844e+02] [ 1.04735401e-01 9.94497612e-01 -2.23493629e-03 1.70055610e+00] [ 1.98971060e-02 1.51395479e-04 9.99802022e-01 9.04538563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.39, Y:1.71, Z:0.91 [[ 9.93913014e-01 -1.08379012e-01 -1.97714668e-02 2.21389709e+02] [ 1.08355941e-01 9.94109643e-01 -2.23759752e-03 1.70753825e+00] [ 1.98975144e-02 8.16214082e-05 9.99802022e-01 9.05310208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.45, Y:1.71, Z:0.91 [[ 9.93803437e-01 -1.09379292e-01 -1.97711626e-02 2.21448455e+02] [ 1.09356366e-01 9.94000084e-01 -2.24028154e-03 1.71353524e+00] [ 1.98975777e-02 6.42970018e-05 9.99802022e-01 9.06518885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:221.51, Y:1.72, Z:0.92 [[ 9.93550472e-01 -1.11653808e-01 -1.97708592e-02 2.21505650e+02] [ 1.11631279e-01 9.93747164e-01 -2.24295593e-03 1.72422850e+00] [ 1.98976699e-02 2.14436195e-05 9.99802022e-01 9.24934331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:221.56, Y:1.73, Z:0.91 [[ 9.93504161e-01 -1.12065191e-01 -1.97705564e-02 2.21564677e+02] [ 1.12042690e-01 9.93700857e-01 -2.24562178e-03 1.72744412e+00] [ 1.98976749e-02 1.58882485e-05 9.99802022e-01 9.06072537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.62, Y:1.73, Z:0.91 [[ 9.93574475e-01 -1.11440115e-01 -1.97702538e-02 2.21623044e+02] [ 1.11417437e-01 9.93771151e-01 -2.24828285e-03 1.73381516e+00] [ 1.98976568e-02 3.10854336e-05 9.99802022e-01 9.08627723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:221.68, Y:1.74, Z:0.93 [[ 9.93260933e-01 -1.14201002e-01 -1.97699504e-02 2.21681585e+02] [ 1.14178818e-01 9.93457664e-01 -2.25094810e-03 1.73910446e+00] [ 1.98976692e-02 -2.15307557e-05 9.99802022e-01 9.27912769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.74, Y:1.74, Z:0.91 [[ 9.93374863e-01 -1.13205757e-01 -1.97696463e-02 2.21740706e+02] [ 1.13183324e-01 9.93571566e-01 -2.25361543e-03 1.74285067e+00] [ 1.98976807e-02 1.09064718e-06 9.99802022e-01 9.10387435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.80, Y:1.75, Z:0.91 [[ 9.93480136e-01 -1.12278188e-01 -1.97693475e-02 2.21798784e+02] [ 1.12255518e-01 9.93676813e-01 -2.25623392e-03 1.75051656e+00] [ 1.98976680e-02 2.23052439e-05 9.99802022e-01 9.12281520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:221.86, Y:1.76, Z:0.91 [[ 9.93619104e-01 -1.11041712e-01 -1.97690460e-02 2.21857613e+02] [ 1.11018745e-01 9.93815745e-01 -2.25887239e-03 1.75674063e+00] [ 1.98976182e-02 4.97240842e-05 9.99802022e-01 9.14489850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.92, Y:1.76, Z:0.91 [[ 9.93574401e-01 -1.11441044e-01 -1.97687403e-02 2.21915116e+02] [ 1.11418103e-01 9.93771046e-01 -2.26154488e-03 1.76191992e+00] [ 1.98976306e-02 4.44175540e-05 9.99802022e-01 9.14768714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:221.97, Y:1.77, Z:0.93 [[ 9.93849212e-01 -1.08963110e-01 -1.97682781e-02 2.21972723e+02] [ 1.08939598e-01 9.94045789e-01 -2.26557709e-03 1.76998796e+00] [ 1.98974380e-02 9.80937274e-05 9.99802022e-01 9.33018579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.03, Y:1.78, Z:0.92 [[ 9.94021362e-01 -1.07381369e-01 -1.97679742e-02 2.22031135e+02] [ 1.07357492e-01 9.94217896e-01 -2.26822634e-03 1.77681110e+00] [ 1.98972389e-02 1.32425318e-04 9.99802022e-01 9.16994190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.09, Y:1.79, Z:0.92 [[ 9.94250898e-01 -1.05235017e-01 -1.97672019e-02 2.22089345e+02] [ 1.05210582e-01 9.94447363e-01 -2.27493670e-03 1.78613097e+00] [ 1.98968448e-02 1.82139049e-04 9.99802022e-01 9.17956774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:222.15, Y:1.80, Z:0.92 [[ 9.94387754e-01 -1.03933946e-01 -1.97668961e-02 2.22146426e+02] [ 1.03909202e-01 9.94584180e-01 -2.27759050e-03 1.79579740e+00] [ 1.98965611e-02 2.10845708e-04 9.99802022e-01 9.18219803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:222.20, Y:1.81, Z:0.94 [[ 9.94397944e-01 -1.03836497e-01 -1.97664311e-02 2.22204389e+02] [ 1.03811653e-01 9.94594357e-01 -2.28161912e-03 1.80807235e+00] [ 1.98964962e-02 2.16851467e-04 9.99802022e-01 9.35340640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.26, Y:1.81, Z:0.92 [[ 9.94318601e-01 -1.04593577e-01 -1.97662000e-02 2.22263546e+02] [ 1.04568843e-01 9.94515029e-01 -2.28361916e-03 1.81405618e+00] [ 1.98966349e-02 2.03716335e-04 9.99802022e-01 9.23544835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.32, Y:1.82, Z:0.92 [[ 9.94031303e-01 -1.07289689e-01 -1.97658933e-02 2.22321962e+02] [ 1.07265435e-01 9.94227791e-01 -2.28627072e-03 1.82388247e+00] [ 1.98970937e-02 1.52427525e-04 9.99802022e-01 9.24085308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302320588 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:222.38, Y:1.83, Z:0.94 [[ 9.93654066e-01 -1.10729030e-01 -1.97655793e-02 2.22380343e+02] [ 1.10705403e-01 9.93850630e-01 -2.28898210e-03 1.83043279e+00] [ 1.98974902e-02 8.62999503e-05 9.99802022e-01 9.41151928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.44, Y:1.84, Z:0.93 [[ 9.93303604e-01 -1.13830065e-01 -1.97652693e-02 2.22438808e+02] [ 1.13806998e-01 9.93500234e-01 -2.29165573e-03 1.83688595e+00] [ 1.98976590e-02 2.68839279e-05 9.99802022e-01 9.25495218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.50, Y:1.84, Z:0.93 [[ 9.92825222e-01 -1.17929747e-01 -1.97649690e-02 2.22497790e+02] [ 1.17907440e-01 9.93021939e-01 -2.29424294e-03 1.84088157e+00] [ 1.98976074e-02 -5.26546467e-05 9.99802022e-01 9.25704512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:222.56, Y:1.84, Z:0.94 [[ 9.92503375e-01 -1.20608497e-01 -1.97646638e-02 2.22556869e+02] [ 1.20586669e-01 9.92700146e-01 -2.29686950e-03 1.84335690e+00] [ 1.98974066e-02 -1.03704238e-04 9.99802022e-01 9.43818664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.62, Y:1.84, Z:0.93 [[ 9.92501681e-01 -1.20622530e-01 -1.97640851e-02 2.22616532e+02] [ 1.20600606e-01 9.92698441e-01 -2.30183854e-03 1.84488443e+00] [ 1.98974300e-02 -9.89820140e-05 9.99802022e-01 9.26223837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.68, Y:1.84, Z:0.93 [[ 9.92567251e-01 -1.20081824e-01 -1.97637789e-02 2.22676052e+02] [ 1.20059740e-01 9.92763994e-01 -2.30446449e-03 1.84466816e+00] [ 1.98974924e-02 -8.54981771e-05 9.99802022e-01 9.26636244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.73, Y:1.85, Z:0.93 [[ 9.93239811e-01 -1.14385673e-01 -1.97634733e-02 2.22734766e+02] [ 1.14362408e-01 9.93436418e-01 -2.30708220e-03 1.84649487e+00] [ 1.98976513e-02 3.12874864e-05 9.99802022e-01 9.26937380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.79, Y:1.85, Z:0.93 [[ 9.94012932e-01 -1.07460266e-01 -1.97631643e-02 2.22792477e+02] [ 1.07435580e-01 9.94209365e-01 -2.30972612e-03 1.84952728e+00] [ 1.98969268e-02 1.72630618e-04 9.99802022e-01 9.27680325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.85, Y:1.86, Z:0.93 [[ 9.94466300e-01 -1.03180496e-01 -1.97626992e-02 2.22850679e+02] [ 1.03154885e-01 9.94662614e-01 -2.31369925e-03 1.85546493e+00] [ 1.98959466e-02 2.62276967e-04 9.99802022e-01 9.28882228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.91, Y:1.86, Z:0.93 [[ 9.94871500e-01 -9.91975097e-02 -1.97623890e-02 2.22908724e+02] [ 9.91710605e-02 9.95067704e-01 -2.31634566e-03 1.86325280e+00] [ 1.98946907e-02 3.44609210e-04 9.99802022e-01 9.31949917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.97, Y:1.88, Z:0.93 [[ 9.95146289e-01 -9.64018822e-02 -1.97620769e-02 2.22966693e+02] [ 9.63748290e-02 9.95342411e-01 -2.31900512e-03 1.87784223e+00] [ 1.98935897e-02 4.03182558e-04 9.99802022e-01 9.31343222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:223.02, Y:1.89, Z:0.93 [[ 9.94781519e-01 -1.00095968e-01 -1.97617646e-02 2.23024544e+02] [ 1.00069590e-01 9.94977732e-01 -2.32166294e-03 1.88598122e+00] [ 1.98949049e-02 3.31995691e-04 9.99802022e-01 9.34814515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.08, Y:1.89, Z:0.94 [[ 9.93281578e-01 -1.14022768e-01 -1.97614512e-02 2.23083727e+02] [ 1.13999089e-01 9.93478135e-01 -2.32432756e-03 1.88999165e+00] [ 1.98975960e-02 5.59243102e-05 9.99802022e-01 9.36397520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.14, Y:1.90, Z:0.94 [[ 9.93242342e-01 -1.14364099e-01 -1.97611303e-02 2.23141884e+02] [ 1.14340434e-01 9.93438901e-01 -2.32705260e-03 1.89614341e+00] [ 1.98976069e-02 5.18309643e-05 9.99802022e-01 9.37709265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.20, Y:1.90, Z:0.94 [[ 9.93386257e-01 -1.13107297e-01 -1.97606565e-02 2.23199798e+02] [ 1.13083303e-01 9.93582776e-01 -2.33106962e-03 1.90216841e+00] [ 1.98975089e-02 8.10522235e-05 9.99802022e-01 9.38655665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.26, Y:1.91, Z:0.94 [[ 9.93922077e-01 -1.08297924e-01 -1.97601834e-02 2.23258890e+02] [ 1.08272899e-01 9.94118467e-01 -2.33507298e-03 1.90652171e+00] [ 1.98968468e-02 1.81388248e-04 9.99802022e-01 9.41701348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.32, Y:1.91, Z:0.94 [[ 9.94138316e-01 -1.06294668e-01 -1.97598696e-02 2.23317187e+02] [ 1.06269195e-01 9.94334649e-01 -2.33772533e-03 1.91405823e+00] [ 1.98964107e-02 2.24156887e-04 9.99802022e-01 9.44898770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:223.38, Y:1.92, Z:0.94 [[ 9.94398234e-01 -1.03835021e-01 -1.97595522e-02 2.23375809e+02] [ 1.03809008e-01 9.94594496e-01 -2.34040510e-03 1.91840885e+00] [ 1.98957579e-02 2.76075184e-04 9.99802022e-01 9.44732022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.43, Y:1.92, Z:0.94 [[ 9.94551676e-01 -1.02354953e-01 -1.97592363e-02 2.23434188e+02] [ 1.02328596e-01 9.94747892e-01 -2.34306892e-03 1.92362492e+00] [ 1.98952834e-02 3.08368216e-04 9.99802022e-01 9.44812115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.49, Y:1.93, Z:0.95 [[ 9.94873832e-01 -9.91748146e-02 -1.97589165e-02 2.23492375e+02] [ 9.91477768e-02 9.95069955e-01 -2.34576256e-03 1.92861124e+00] [ 1.98941448e-02 3.74685142e-04 9.99802022e-01 9.48594250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.55, Y:1.94, Z:0.95 [[ 9.94665909e-01 -1.01238963e-01 -1.97586021e-02 2.23550681e+02] [ 1.01212280e-01 9.94862081e-01 -2.34840796e-03 1.93603438e+00] [ 1.98948344e-02 3.36068170e-04 9.99802022e-01 9.47834301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.61, Y:1.94, Z:0.95 [[ 9.94349344e-01 -1.04302407e-01 -1.97582915e-02 2.23608890e+02] [ 1.04276276e-01 9.94545590e-01 -2.35101838e-03 1.93766414e+00] [ 1.98957386e-02 2.77412523e-04 9.99802022e-01 9.50662076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:223.67, Y:1.94, Z:0.97 [[ 9.93943248e-01 -1.08103875e-01 -1.97578185e-02 2.23668053e+02] [ 1.08078416e-01 9.94139583e-01 -2.35498663e-03 1.94471472e+00] [ 1.98966126e-02 2.05329344e-04 9.99802022e-01 9.69390572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.73, Y:1.95, Z:0.95 [[ 9.93889936e-01 -1.08592967e-01 -1.97576022e-02 2.23727144e+02] [ 1.08567568e-01 9.94086278e-01 -2.35679982e-03 1.95012775e+00] [ 1.98966931e-02 1.97364801e-04 9.99802022e-01 9.50857262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.79, Y:1.95, Z:0.96 [[ 9.93455894e-01 -1.12494615e-01 -1.97572515e-02 2.23786487e+02] [ 1.12469929e-01 9.93652327e-01 -2.35973635e-03 1.94771850e+00] [ 1.98972966e-02 1.22197311e-04 9.99802022e-01 9.55942879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.84, Y:1.96, Z:0.96 [[ 9.94318725e-01 -1.04594156e-01 -1.97569311e-02 2.23844524e+02] [ 1.04567856e-01 9.94514948e-01 -2.36241577e-03 1.95644829e+00] [ 1.98956582e-02 2.83054308e-04 9.99802022e-01 9.58455235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.90, Y:1.97, Z:0.96 [[ 9.95342863e-01 -9.43517971e-02 -1.97566139e-02 2.23902708e+02] [ 9.43234261e-02 9.95538798e-01 -2.36506559e-03 1.96649400e+00] [ 1.98916238e-02 4.90539639e-04 9.99802022e-01 9.59586335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.96, Y:1.98, Z:0.96 [[ 9.95992385e-01 -8.72287604e-02 -1.97563019e-02 2.23960589e+02] [ 8.71989368e-02 9.96188105e-01 -2.36766869e-03 1.97978207e+00] [ 1.98875218e-02 6.35451460e-04 9.99802022e-01 9.59296149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:1.99, Z:0.96 [[ 9.96230570e-01 -8.44650939e-02 -1.97559968e-02 2.24018404e+02] [ 8.44346770e-02 9.96426198e-01 -2.37021218e-03 1.99212637e+00] [ 1.98855929e-02 6.93186623e-04 9.99802022e-01 9.59329786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:2.00, Z:0.96 [[ 9.96209906e-01 -8.47085310e-02 -1.97556943e-02 2.24076670e+02] [ 8.46781121e-02 9.96405534e-01 -2.37273086e-03 2.00064110e+00] [ 1.98856736e-02 6.90863094e-04 9.99802022e-01 9.59971006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:224.13, Y:2.01, Z:0.96 [[ 9.95943805e-01 -8.77818947e-02 -1.97553937e-02 2.24134912e+02] [ 8.77520300e-02 9.96139518e-01 -2.37523124e-03 2.01079125e+00] [ 1.98876306e-02 6.32020947e-04 9.99802022e-01 9.60908825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.19, Y:2.02, Z:0.96 [[ 9.95838463e-01 -8.89690557e-02 -1.97550915e-02 2.24192395e+02] [ 8.89393745e-02 9.96034203e-01 -2.37774140e-03 2.02157019e+00] [ 1.98882923e-02 6.10840853e-04 9.99802022e-01 9.62821355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.25, Y:2.03, Z:0.97 [[ 9.95740079e-01 -9.00635537e-02 -1.97547816e-02 2.24249877e+02] [ 9.00340367e-02 9.95935844e-01 -2.38031393e-03 2.03238993e+00] [ 1.98888746e-02 5.91571254e-04 9.99802022e-01 9.66176527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.31, Y:2.04, Z:0.97 [[ 9.95613091e-01 -9.14567304e-02 -1.97544728e-02 2.24308025e+02] [ 9.14274366e-02 9.95808890e-01 -2.38287369e-03 2.04069304e+00] [ 1.98896095e-02 5.66319435e-04 9.99802022e-01 9.67246510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.37, Y:2.05, Z:0.97 [[ 9.95288763e-01 -9.49212947e-02 -1.97541626e-02 2.24366664e+02] [ 9.48926316e-02 9.95484655e-01 -2.38544221e-03 2.04873740e+00] [ 1.98913950e-02 4.99679346e-04 9.99802022e-01 9.69593861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.42, Y:2.06, Z:0.97 [[ 9.94913060e-01 -9.87815162e-02 -1.97538534e-02 2.24424398e+02] [ 9.87535624e-02 9.95109055e-01 -2.38800041e-03 2.05542370e+00] [ 1.98931287e-02 4.25089402e-04 9.99802022e-01 9.70194698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.48, Y:2.07, Z:0.97 [[ 9.94417153e-01 -1.03654859e-01 -1.97533798e-02 2.24482722e+02] [ 1.03627789e-01 9.94613272e-01 -2.39191160e-03 2.06569558e+00] [ 1.98949069e-02 3.31558864e-04 9.99802022e-01 9.71224053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.54, Y:2.07, Z:0.97 [[ 9.94109490e-01 -1.06565188e-01 -1.97530583e-02 2.24540662e+02] [ 1.06538639e-01 9.94305680e-01 -2.39456303e-03 2.07324170e+00] [ 1.98957552e-02 2.75993880e-04 9.99802022e-01 9.72381952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:224.60, Y:2.08, Z:0.97 [[ 9.93801451e-01 -1.09400662e-01 -1.97527382e-02 2.24598864e+02] [ 1.09374620e-01 9.93997709e-01 -2.39720090e-03 2.07948276e+00] [ 1.98964319e-02 2.21893490e-04 9.99802022e-01 9.70417455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.66, Y:2.09, Z:0.97 [[ 9.93524686e-01 -1.11886281e-01 -1.97524127e-02 2.24657363e+02] [ 1.11860677e-01 9.93721002e-01 -2.39987971e-03 2.08585876e+00] [ 1.98969010e-02 1.74821475e-04 9.99802022e-01 9.70505608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.72, Y:2.09, Z:0.97 [[ 9.93279253e-01 -1.14044646e-01 -1.97520880e-02 2.24715389e+02] [ 1.14019416e-01 9.93475617e-01 -2.40254943e-03 2.09276888e+00] [ 1.98972157e-02 1.34280972e-04 9.99802022e-01 9.73080288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.77, Y:2.10, Z:0.97 [[ 9.93068704e-01 -1.15863784e-01 -1.97517629e-02 2.24773975e+02] [ 1.15838860e-01 9.93265107e-01 -2.40521962e-03 2.10234022e+00] [ 1.98974147e-02 1.00526645e-04 9.99802022e-01 9.73037415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.83, Y:2.11, Z:0.98 [[ 9.92730355e-01 -1.18727941e-01 -1.97514374e-02 2.24833219e+02] [ 1.18703530e-01 9.92926822e-01 -2.40788925e-03 2.10559268e+00] [ 1.98976157e-02 4.58194079e-05 9.99802022e-01 9.75369194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.89, Y:2.11, Z:0.98 [[ 9.92328471e-01 -1.22041371e-01 -1.97511946e-02 2.24892178e+02] [ 1.22017576e-01 9.92525014e-01 -2.40987910e-03 2.10893940e+00] [ 1.98976597e-02 -1.86012546e-05 9.99802022e-01 9.76228649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:224.95, Y:2.11, Z:0.99 [[ 9.92355110e-01 -1.21824625e-01 -1.97508726e-02 2.24950861e+02] [ 1.21800736e-01 9.92551641e-01 -2.41251515e-03 2.11400416e+00] [ 1.98976648e-02 -1.15990813e-05 9.99802022e-01 9.92250063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.01, Y:2.12, Z:0.98 [[ 9.92394659e-01 -1.21502084e-01 -1.97505457e-02 2.25010885e+02] [ 1.21478078e-01 9.92591176e-01 -2.41518868e-03 2.11874481e+00] [ 1.98976678e-02 -2.43798012e-06 9.99802022e-01 9.78710449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.07, Y:2.12, Z:0.98 [[ 9.92373256e-01 -1.21676788e-01 -1.97504639e-02 2.25069796e+02] [ 1.21652802e-01 9.92569776e-01 -2.41585752e-03 2.12313094e+00] [ 1.98976673e-02 -5.26688929e-06 9.99802022e-01 9.77814394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:225.13, Y:2.12, Z:1.00 [[ 9.92294238e-01 -1.22319569e-01 -1.97501401e-02 2.25128776e+02] [ 1.22295658e-01 9.92490767e-01 -2.41850178e-03 2.12275447e+00] [ 1.98976618e-02 -1.54910060e-05 9.99802022e-01 9.95468789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.19, Y:2.13, Z:0.98 [[ 9.92473423e-01 -1.20857142e-01 -1.97498099e-02 2.25188244e+02] [ 1.20832888e-01 9.92669910e-01 -2.42119471e-03 2.12682304e+00] [ 1.98976607e-02 1.65448238e-05 9.99802022e-01 9.80995616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.25, Y:2.13, Z:0.98 [[ 9.92839345e-01 -1.17813383e-01 -1.97494804e-02 2.25247397e+02] [ 1.17788473e-01 9.93035750e-01 -2.42388007e-03 2.13176943e+00] [ 1.98975056e-02 8.02623599e-05 9.99802022e-01 9.81522656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.31, Y:2.14, Z:0.98 [[ 9.93332279e-01 -1.13582419e-01 -1.97488462e-02 2.25306051e+02] [ 1.13556571e-01 9.93528563e-01 -2.42903627e-03 2.13653515e+00] [ 1.98969386e-02 1.70228890e-04 9.99802022e-01 9.84664090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:2.14, Z:0.99 [[ 9.93630954e-01 -1.10939276e-01 -1.97485172e-02 2.25364578e+02] [ 1.10912852e-01 9.93827161e-01 -2.43170763e-03 2.14144372e+00] [ 1.98963847e-02 2.25855613e-04 9.99802022e-01 9.85739915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.42, Y:2.15, Z:0.99 [[ 9.93918876e-01 -1.08329487e-01 -1.97481882e-02 2.25422662e+02] [ 1.08302495e-01 9.94115005e-01 -2.43437683e-03 2.15063916e+00] [ 1.98956850e-02 2.80795026e-04 9.99802022e-01 9.87348091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.48, Y:2.16, Z:0.99 [[ 9.94341504e-01 -1.04379094e-01 -1.97478611e-02 2.25480486e+02] [ 1.04351271e-01 9.94537517e-01 -2.43702756e-03 2.16195232e+00] [ 1.98943635e-02 3.62523256e-04 9.99802022e-01 9.87447124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.54, Y:2.17, Z:0.99 [[ 9.94519396e-01 -1.02670374e-01 -1.97475341e-02 2.25537921e+02] [ 1.02642161e-01 9.94715354e-01 -2.43967407e-03 2.17330443e+00] [ 1.98936576e-02 3.99373611e-04 9.99802022e-01 9.86730712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.60, Y:2.19, Z:0.99 [[ 9.94539806e-01 -1.02472540e-01 -1.97472121e-02 2.25595243e+02] [ 1.02444237e-01 9.94735751e-01 -2.44227799e-03 2.18500373e+00] [ 1.98935243e-02 4.05954617e-04 9.99802022e-01 9.89151274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:225.65, Y:2.20, Z:0.99 [[ 9.94284122e-01 -1.04924492e-01 -1.97468096e-02 2.25652741e+02] [ 1.04896607e-01 9.94480126e-01 -2.44552825e-03 2.19576234e+00] [ 1.98944055e-02 3.60176584e-04 9.99802022e-01 9.90602320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.71, Y:2.20, Z:1.01 [[ 9.93303945e-01 -1.13830353e-01 -1.97464848e-02 2.25711600e+02] [ 1.13804173e-01 9.93500185e-01 -2.44814780e-03 2.20289578e+00] [ 1.98968098e-02 1.84522493e-04 9.99802022e-01 1.00848735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.77, Y:2.21, Z:0.99 [[ 9.92744976e-01 -1.18606473e-01 -1.97463192e-02 2.25770942e+02] [ 1.18581211e-01 9.92941336e-01 -2.44948241e-03 2.20802743e+00] [ 1.98974611e-02 9.01689218e-05 9.99802022e-01 9.91020733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:225.83, Y:2.21, Z:1.01 [[ 9.92101463e-01 -1.23874048e-01 -1.97460659e-02 2.25828896e+02] [ 1.23849788e-01 9.92297949e-01 -2.45152315e-03 2.21451141e+00] [ 1.98976608e-02 -1.33863605e-05 9.99802022e-01 1.00639286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.89, Y:2.22, Z:1.00 [[ 9.91656856e-01 -1.27384405e-01 -1.97457304e-02 2.25887550e+02] [ 1.27360787e-01 9.91853420e-01 -2.45422202e-03 2.21619627e+00] [ 1.98974999e-02 -8.10856761e-05 9.99802022e-01 9.95800373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.95, Y:2.22, Z:1.00 [[ 9.91624213e-01 -1.27638339e-01 -1.97452350e-02 2.25945955e+02] [ 1.27614692e-01 9.91820774e-01 -2.45820183e-03 2.22199014e+00] [ 1.98974950e-02 -8.21696156e-05 9.99802022e-01 9.95807770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.00, Y:2.23, Z:1.00 [[ 9.91762243e-01 -1.26561419e-01 -1.97449074e-02 2.26004497e+02] [ 1.26537506e-01 9.91958771e-01 -2.46083038e-03 2.22645893e+00] [ 1.98975802e-02 -5.79126859e-05 9.99802022e-01 9.96801322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:226.06, Y:2.23, Z:1.02 [[ 9.92356929e-01 -1.21810823e-01 -1.97445741e-02 2.26062883e+02] [ 1.21785916e-01 9.92553335e-01 -2.46350121e-03 2.23409969e+00] [ 1.98976240e-02 4.00614530e-05 9.99802022e-01 1.01696791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.12, Y:2.24, Z:1.00 [[ 9.92537422e-01 -1.20331327e-01 -1.97443285e-02 2.26122100e+02] [ 1.20306088e-01 9.92733784e-01 -2.46546862e-03 2.24232126e+00] [ 1.98975350e-02 7.17069437e-05 9.99802022e-01 9.99747342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.18, Y:2.25, Z:1.02 [[ 9.92644437e-01 -1.19445342e-01 -1.97441607e-02 2.26180819e+02] [ 1.19419901e-01 9.92840774e-01 -2.46681109e-03 2.25183575e+00] [ 1.98974569e-02 9.08205820e-05 9.99802022e-01 1.01889122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.24, Y:2.26, Z:1.00 [[ 9.92461787e-01 -1.20953611e-01 -1.97439938e-02 2.26240556e+02] [ 1.20928442e-01 9.92658159e-01 -2.46814636e-03 2.25847395e+00] [ 1.98975678e-02 6.19305432e-05 9.99802022e-01 1.00402686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.30, Y:2.26, Z:1.00 [[ 9.91633015e-01 -1.27570160e-01 -1.97438242e-02 2.26298898e+02] [ 1.27546275e-01 9.91829547e-01 -2.46950264e-03 2.26199387e+00] [ 1.98975430e-02 -6.94108779e-05 9.99802022e-01 1.00430192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.36, Y:2.27, Z:1.01 [[ 9.91035218e-01 -1.32134003e-01 -1.97434034e-02 2.26357479e+02] [ 1.32110956e-01 9.91231850e-01 -2.47286215e-03 2.26847258e+00] [ 1.98970394e-02 -1.57626411e-04 9.99802022e-01 1.00523663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.42, Y:2.26, Z:1.01 [[ 9.89942547e-01 -1.40085561e-01 -1.97430725e-02 2.26417170e+02] [ 1.40064040e-01 9.90139352e-01 -2.47550130e-03 2.26445253e+00] [ 1.98951750e-02 -3.14690437e-04 9.99802022e-01 1.00662133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.48, Y:2.26, Z:1.01 [[ 9.89445348e-01 -1.43555310e-01 -1.97427451e-02 2.26476054e+02] [ 1.43534428e-01 9.89642222e-01 -2.47810967e-03 2.26447518e+00] [ 1.98939999e-02 -3.81809532e-04 9.99802022e-01 1.00695256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:226.53, Y:2.26, Z:1.01 [[ 9.89722856e-01 -1.41629464e-01 -1.97424249e-02 2.26534832e+02] [ 1.41608148e-01 9.89919683e-01 -2.48065767e-03 2.26414463e+00] [ 1.98947492e-02 -3.40524621e-04 9.99802022e-01 1.01092370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.59, Y:2.27, Z:1.01 [[ 9.90352126e-01 -1.37160206e-01 -1.97419439e-02 2.26593697e+02] [ 1.37137925e-01 9.90548846e-01 -2.48447989e-03 2.26725029e+00] [ 1.98961315e-02 -2.46859278e-04 9.99802022e-01 1.01087445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.65, Y:2.27, Z:1.01 [[ 9.91245956e-01 -1.30543955e-01 -1.97416170e-02 2.26652639e+02] [ 1.30520309e-01 9.91442516e-01 -2.48707502e-03 2.27238495e+00] [ 1.98973510e-02 -1.11378892e-04 9.99802022e-01 1.01158144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.71, Y:2.28, Z:1.01 [[ 9.91950730e-01 -1.25076232e-01 -1.97404469e-02 2.26710951e+02] [ 1.25051319e-01 9.92147134e-01 -2.49632754e-03 2.27815064e+00] [ 1.98976591e-02 7.66501255e-06 9.99802022e-01 1.01494979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.77, Y:2.28, Z:1.02 [[ 9.92243600e-01 -1.22731414e-01 -1.97392557e-02 2.26769700e+02] [ 1.22705850e-01 9.92439921e-01 -2.50571140e-03 2.28297958e+00] [ 1.98975549e-02 6.41539532e-05 9.99802022e-01 1.01605306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:226.83, Y:2.29, Z:1.04 [[ 9.92623837e-01 -1.19617421e-01 -1.97380517e-02 2.26827873e+02] [ 1.19591053e-01 9.92820051e-01 -2.51516010e-03 2.28941124e+00] [ 1.98971905e-02 1.36113481e-04 9.99802022e-01 1.03714426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.89, Y:2.30, Z:1.02 [[ 9.92714338e-01 -1.18864066e-01 -1.97377085e-02 2.26885966e+02] [ 1.18837495e-01 9.92910525e-01 -2.51785085e-03 2.29831022e+00] [ 1.98970604e-02 1.53926814e-04 9.99802022e-01 1.01954314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.94, Y:2.30, Z:1.02 [[ 9.92779275e-01 -1.18320541e-01 -1.97372824e-02 2.26944718e+02] [ 1.18293797e-01 9.92975438e-01 -2.52118599e-03 2.30439919e+00] [ 1.98969448e-02 1.68183123e-04 9.99802022e-01 1.01990001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.00, Y:2.31, Z:1.02 [[ 9.92890304e-01 -1.17385398e-01 -1.97360773e-02 2.27003066e+02] [ 1.17358282e-01 9.93086416e-01 -2.53058465e-03 2.30954414e+00] [ 1.98966840e-02 1.96400841e-04 9.99802022e-01 1.02042235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.06, Y:2.32, Z:1.02 [[ 9.92942669e-01 -1.16941823e-01 -1.97348766e-02 2.27061410e+02] [ 1.16914434e-01 9.93138744e-01 -2.53991403e-03 2.31767166e+00] [ 1.98964927e-02 2.14697085e-04 9.99802022e-01 1.02163166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.12, Y:2.33, Z:1.02 [[ 9.92997237e-01 -1.16477760e-01 -1.97336844e-02 2.27119251e+02] [ 1.16450096e-01 9.93193273e-01 -2.54914368e-03 2.32526554e+00] [ 1.98962811e-02 2.33303205e-04 9.99802022e-01 1.02337093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.18, Y:2.34, Z:1.02 [[ 9.93148891e-01 -1.15177601e-01 -1.97332578e-02 2.27176666e+02] [ 1.15149615e-01 9.93344880e-01 -2.55244146e-03 2.33700124e+00] [ 1.98959147e-02 2.62677368e-04 9.99802022e-01 1.02451968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.23, Y:2.35, Z:1.02 [[ 9.93039775e-01 -1.16114817e-01 -1.97320663e-02 2.27234201e+02] [ 1.16086833e-01 9.93235765e-01 -2.56161965e-03 2.34512757e+00] [ 1.98960360e-02 2.53157107e-04 9.99802022e-01 1.02497340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.29, Y:2.36, Z:1.02 [[ 9.92857536e-01 -1.17663130e-01 -1.97306865e-02 2.27292726e+02] [ 1.17635242e-01 9.93053540e-01 -2.57220346e-03 2.35519963e+00] [ 1.98962816e-02 2.32807501e-04 9.99802022e-01 1.02338311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:2.37, Z:1.04 [[ 9.92728719e-01 -1.18745250e-01 -1.97295664e-02 2.27350227e+02] [ 1.18717405e-01 9.92924729e-01 -2.58076695e-03 2.36667991e+00] [ 1.98964281e-02 2.19758539e-04 9.99802022e-01 1.04202284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.41, Y:2.37, Z:1.03 [[ 9.92471208e-01 -1.20878835e-01 -1.97283627e-02 2.27409336e+02] [ 1.20851230e-01 9.92667252e-01 -2.58993553e-03 2.37429611e+00] [ 1.98967680e-02 1.86239550e-04 9.99802022e-01 1.02538054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.47, Y:2.38, Z:1.02 [[ 9.92284361e-01 -1.22403207e-01 -1.97281942e-02 2.27467079e+02] [ 1.22375877e-01 9.92480443e-01 -2.59121870e-03 2.38030985e+00] [ 1.98970204e-02 1.56970718e-04 9.99802022e-01 1.02479914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.53, Y:2.38, Z:1.03 [[ 9.92005187e-01 -1.24645748e-01 -1.97267813e-02 2.27526127e+02] [ 1.24618649e-01 9.92201301e-01 -2.60193018e-03 2.38451433e+00] [ 1.98972577e-02 1.22803403e-04 9.99802022e-01 1.02598848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.58, Y:2.39, Z:1.03 [[ 9.92270886e-01 -1.22512823e-01 -1.97255448e-02 2.27584542e+02] [ 1.22485116e-01 9.92466915e-01 -2.61127128e-03 2.39386884e+00] [ 1.98968648e-02 1.75002826e-04 9.99802022e-01 1.02520894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.64, Y:2.40, Z:1.04 [[ 9.92801640e-01 -1.18134900e-01 -1.97243032e-02 2.27642211e+02] [ 1.18106143e-01 9.92997518e-01 -2.62061578e-03 2.40346174e+00] [ 1.98957703e-02 2.72190266e-04 9.99802023e-01 1.04296635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.70, Y:2.41, Z:1.03 [[ 9.93081632e-01 -1.15757817e-01 -1.97230748e-02 2.27701440e+02] [ 1.15728409e-01 9.93277413e-01 -2.62982862e-03 2.41047083e+00] [ 1.98949080e-02 3.29114433e-04 9.99802023e-01 1.02723575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.76, Y:2.42, Z:1.03 [[ 9.93115312e-01 -1.15468704e-01 -1.97219326e-02 2.27759972e+02] [ 1.15439069e-01 9.93311059e-01 -2.63836702e-03 2.41875029e+00] [ 1.98946625e-02 3.43521147e-04 9.99802023e-01 1.02803341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.82, Y:2.43, Z:1.03 [[ 9.93498019e-01 -1.12128411e-01 -1.97207186e-02 2.27817563e+02] [ 1.12097938e-01 9.93693637e-01 -2.64740982e-03 2.43495062e+00] [ 1.98932025e-02 4.19544518e-04 9.99802023e-01 1.02765415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.88, Y:2.45, Z:1.04 [[ 9.93689849e-01 -1.10415539e-01 -1.97203712e-02 2.27875590e+02] [ 1.10384677e-01 9.93885406e-01 -2.64999518e-03 2.44741352e+00] [ 1.98923898e-02 4.56446493e-04 9.99802023e-01 1.04312095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.93, Y:2.46, Z:1.03 [[ 9.93911367e-01 -1.08403449e-01 -1.97201983e-02 2.27934096e+02] [ 1.08372167e-01 9.94106858e-01 -2.65128154e-03 2.46020885e+00] [ 1.98913924e-02 4.98018254e-04 9.99802023e-01 1.02818305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.99, Y:2.47, Z:1.03 [[ 9.93945084e-01 -1.08094066e-01 -1.97190997e-02 2.27991458e+02] [ 1.08062561e-01 9.94140538e-01 -2.65942696e-03 2.47477303e+00] [ 1.98910247e-02 5.12427929e-04 9.99802023e-01 1.03009478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.05, Y:2.49, Z:1.03 [[ 9.93773426e-01 -1.09661060e-01 -1.97187614e-02 2.28049271e+02] [ 1.09629813e-01 9.93968922e-01 -2.66193295e-03 2.48508386e+00] [ 1.98917464e-02 4.83594096e-04 9.99802023e-01 1.03130724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:228.11, Y:2.50, Z:1.05 [[ 9.93361238e-01 -1.13334171e-01 -1.97184152e-02 2.28108017e+02] [ 1.13303597e-01 9.93556841e-01 -2.66449485e-03 2.49549794e+00] [ 1.98933447e-02 4.12638538e-04 9.99802023e-01 1.04641398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:228.17, Y:2.51, Z:1.05 [[ 9.93148108e-01 -1.15186920e-01 -1.97182422e-02 2.28165842e+02] [ 1.15156685e-01 9.93343763e-01 -2.66577471e-03 2.50860582e+00] [ 1.98940553e-02 3.76821706e-04 9.99802023e-01 1.04921331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.22, Y:2.52, Z:1.03 [[ 9.92978706e-01 -1.16638301e-01 -1.97178949e-02 2.28224095e+02] [ 1.16608302e-01 9.93174398e-01 -2.66834095e-03 2.52161595e+00] [ 1.98945392e-02 3.50335508e-04 9.99802023e-01 1.03323897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.28, Y:2.53, Z:1.05 [[ 9.92919001e-01 -1.17145520e-01 -1.97176350e-02 2.28282097e+02] [ 1.17115582e-01 9.93114701e-01 -2.67026002e-03 2.53155635e+00] [ 1.98946822e-02 3.42109607e-04 9.99802023e-01 1.05056886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:2.54, Z:1.05 [[ 9.92229669e-01 -1.22847507e-01 -1.97173698e-02 2.28340454e+02] [ 1.22818655e-01 9.92425532e-01 -2.67221699e-03 2.54288436e+00] [ 1.98962964e-02 2.29792136e-04 9.99802023e-01 1.04773626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.40, Y:2.55, Z:1.05 [[ 9.91923549e-01 -1.25295298e-01 -1.97170138e-02 2.28398703e+02] [ 1.25266878e-01 9.92119476e-01 -2.67484132e-03 2.55217361e+00] [ 1.98967784e-02 1.83349344e-04 9.99802023e-01 1.04798743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:228.46, Y:2.57, Z:1.03 [[ 9.91845187e-01 -1.25914172e-01 -1.97166571e-02 2.28457678e+02] [ 1.25885822e-01 9.92041124e-01 -2.67746817e-03 2.56589393e+00] [ 1.98968658e-02 1.73586341e-04 9.99802023e-01 1.03342807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.52, Y:2.58, Z:1.03 [[ 9.92058101e-01 -1.24225528e-01 -1.97165670e-02 2.28515131e+02] [ 1.24196831e-01 9.92253987e-01 -2.67813125e-03 2.57728819e+00] [ 1.98965345e-02 2.08126656e-04 9.99802023e-01 1.03188485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.57, Y:2.59, Z:1.05 [[ 9.92289195e-01 -1.22365943e-01 -1.97162099e-02 2.28574169e+02] [ 1.22336827e-01 9.92485020e-01 -2.68075803e-03 2.58985814e+00] [ 1.98960764e-02 2.48068684e-04 9.99802023e-01 1.04538094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.63, Y:2.60, Z:1.05 [[ 9.92162469e-01 -1.23389246e-01 -1.97162099e-02 2.28631523e+02] [ 1.23360332e-01 9.92358323e-01 -2.68075803e-03 2.60183661e+00] [ 1.98963217e-02 2.27549325e-04 9.99802023e-01 1.04673639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.69, Y:2.62, Z:1.05 [[ 9.92094768e-01 -1.23932467e-01 -1.97158527e-02 2.28688915e+02] [ 1.23903608e-01 9.92290631e-01 -2.68338222e-03 2.61823486e+00] [ 1.98964141e-02 2.19304184e-04 9.99802023e-01 1.04683846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.75, Y:2.63, Z:1.03 [[ 9.91822100e-01 -1.26096079e-01 -1.97154894e-02 2.28748618e+02] [ 1.26067593e-01 9.92018017e-01 -2.68604911e-03 2.63050416e+00] [ 1.98968209e-02 1.78598576e-04 9.99802023e-01 1.02983913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.81, Y:2.64, Z:1.05 [[ 9.91364372e-01 -1.29645610e-01 -1.97153992e-02 2.28807724e+02] [ 1.29617813e-01 9.91560389e-01 -2.68671097e-03 2.64267450e+00] [ 1.98973291e-02 1.08042612e-04 9.99802023e-01 1.04878298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.87, Y:2.66, Z:1.03 [[ 9.90618673e-01 -1.35225545e-01 -1.97153992e-02 2.28865879e+02] [ 1.35198853e-01 9.90814842e-01 -2.68671097e-03 2.65938074e+00] [ 1.98976221e-02 -3.99328844e-06 9.99802023e-01 1.03146403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.92, Y:2.67, Z:1.03 [[ 9.90212379e-01 -1.38169296e-01 -1.97152218e-02 2.28923746e+02] [ 1.38143160e-01 9.90408624e-01 -2.68801198e-03 2.67177252e+00] [ 1.98975264e-02 -6.18203027e-05 9.99802023e-01 1.03133846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.98, Y:2.69, Z:1.05 [[ 9.89473058e-01 -1.43368029e-01 -1.97148693e-02 2.28982091e+02] [ 1.43342873e-01 9.89669430e-01 -2.69059462e-03 2.68742665e+00] [ 1.98969487e-02 -1.63715126e-04 9.99802023e-01 1.04965059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.04, Y:2.70, Z:1.03 [[ 9.88575203e-01 -1.49433576e-01 -1.97148507e-02 2.29041358e+02] [ 1.49409622e-01 9.88771725e-01 -2.69073100e-03 2.70151515e+00] [ 1.98955725e-02 -2.85598444e-04 9.99802023e-01 1.03214864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.10, Y:2.72, Z:1.05 [[ 9.87976505e-01 -1.53341944e-01 -1.97148303e-02 2.29099685e+02] [ 1.53318764e-01 9.88173120e-01 -2.69088037e-03 2.71631764e+00] [ 1.98942902e-02 -3.64126835e-04 9.99802023e-01 1.04728650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.16, Y:2.73, Z:1.03 [[ 9.87474764e-01 -1.56540469e-01 -1.97147849e-02 2.29158742e+02] [ 1.56517920e-01 9.87671453e-01 -2.69121300e-03 2.73169929e+00] [ 1.98930140e-02 -4.28212201e-04 9.99802023e-01 1.03384348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.22, Y:2.75, Z:1.03 [[ 9.87510183e-01 -1.56316878e-01 -1.97147900e-02 2.29219123e+02] [ 1.56294285e-01 9.87706866e-01 -2.69117562e-03 2.74555464e+00] [ 1.98931096e-02 -4.23745689e-04 9.99802023e-01 1.03415903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.28, Y:2.76, Z:1.03 [[ 9.87498988e-01 -1.56387559e-01 -1.97149569e-02 2.29279725e+02] [ 1.56365005e-01 9.87695677e-01 -2.68995250e-03 2.75987764e+00] [ 1.98930528e-02 -4.26403958e-04 9.99802023e-01 1.03279393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:229.34, Y:2.77, Z:1.05 [[ 9.87834680e-01 -1.54252775e-01 -1.97161253e-02 2.29339132e+02] [ 1.54229966e-01 9.88031339e-01 -2.68136107e-03 2.77064465e+00] [ 1.98937571e-02 -3.92075894e-04 9.99802023e-01 1.05388996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.40, Y:2.79, Z:1.04 [[ 9.87639019e-01 -1.55500591e-01 -1.97163210e-02 2.29398600e+02] [ 1.55478060e-01 9.87835710e-01 -2.67992178e-03 2.79233850e+00] [ 1.98932153e-02 -4.18660014e-04 9.99802023e-01 1.03585982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.46, Y:2.81, Z:1.03 [[ 9.87910147e-01 -1.53768664e-01 -1.97164906e-02 2.29459251e+02] [ 1.53745813e-01 9.88106801e-01 -2.67867337e-03 2.80739382e+00] [ 1.98938944e-02 -3.85039263e-04 9.99802023e-01 1.03470906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:229.52, Y:2.82, Z:1.05 [[ 9.88221267e-01 -1.51756196e-01 -1.97176422e-02 2.29517907e+02] [ 1.51733114e-01 9.88417894e-01 -2.67016885e-03 2.82479811e+00] [ 1.98944851e-02 -3.53101613e-04 9.99802023e-01 1.05263424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.58, Y:2.84, Z:1.04 [[ 9.88276753e-01 -1.51394419e-01 -1.97177247e-02 2.29577335e+02] [ 1.51371277e-01 9.88473373e-01 -2.66955981e-03 2.84274497e+00] [ 1.98946023e-02 -3.46433268e-04 9.99802023e-01 1.03643704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.64, Y:2.86, Z:1.04 [[ 9.87782500e-01 -1.54586354e-01 -1.97178073e-02 2.29637579e+02] [ 1.54563860e-01 9.87979195e-01 -2.66894970e-03 2.86030640e+00] [ 1.98933666e-02 -4.11318593e-04 9.99802023e-01 1.03592442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.70, Y:2.87, Z:1.04 [[ 9.87319073e-01 -1.57518919e-01 -1.97189611e-02 2.29699804e+02] [ 1.57497180e-01 9.87515853e-01 -2.66039770e-03 2.87025549e+00] [ 1.98918497e-02 -4.79019362e-04 9.99802023e-01 1.03811098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.76, Y:2.88, Z:1.04 [[ 9.86140184e-01 -1.64738121e-01 -1.97202595e-02 2.29761146e+02] [ 1.64718015e-01 9.86337138e-01 -2.65073830e-03 2.88292179e+00] [ 1.98875019e-02 -6.34282444e-04 9.99802023e-01 1.03891808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.82, Y:2.90, Z:1.04 [[ 9.85682058e-01 -1.67457303e-01 -1.97213692e-02 2.29822171e+02] [ 1.67437906e-01 9.85879082e-01 -2.64245636e-03 2.89658122e+00] [ 1.98853840e-02 -6.97482929e-04 9.99802023e-01 1.04003767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.88, Y:2.90, Z:1.04 [[ 9.85741344e-01 -1.67107828e-01 -1.97224724e-02 2.29883863e+02] [ 1.67088526e-01 9.85938378e-01 -2.63419603e-03 2.90350738e+00] [ 1.98853373e-02 -6.98762916e-04 9.99802023e-01 1.04120217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.95, Y:2.91, Z:1.04 [[ 9.85739343e-01 -1.67119504e-01 -1.97235698e-02 2.29945249e+02] [ 1.67100369e-01 9.85936393e-01 -2.62595407e-03 2.91369532e+00] [ 1.98850334e-02 -7.07309551e-04 9.99802023e-01 1.04228312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.01, Y:2.93, Z:1.04 [[ 9.86084173e-01 -1.65072535e-01 -1.97246566e-02 2.30006450e+02] [ 1.65053155e-01 9.86281199e-01 -2.61776457e-03 2.92513738e+00] [ 1.98861790e-02 -6.74280590e-04 9.99802023e-01 1.04346461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.07, Y:2.93, Z:1.04 [[ 9.86651728e-01 -1.61645488e-01 -1.97257361e-02 2.30067994e+02] [ 1.61625586e-01 9.86848702e-01 -2.60960536e-03 2.93307985e+00] [ 1.98881479e-02 -6.13412014e-04 9.99802023e-01 1.04467877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.13, Y:2.95, Z:1.04 [[ 9.87352834e-01 -1.57306180e-01 -1.97268256e-02 2.30129249e+02] [ 1.57285578e-01 9.87549736e-01 -2.60134320e-03 2.94639037e+00] [ 1.98904287e-02 -5.34301574e-04 9.99802023e-01 1.04421670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.19, Y:2.96, Z:1.04 [[ 9.88281838e-01 -1.51359898e-01 -1.97279137e-02 2.30189360e+02] [ 1.51338275e-01 9.88478630e-01 -2.59306480e-03 2.96494137e+00] [ 1.98931071e-02 -4.22909588e-04 9.99802023e-01 1.04451971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.25, Y:2.98, Z:1.05 [[ 9.89157512e-01 -1.45527255e-01 -1.97290177e-02 2.30249177e+02] [ 1.45504640e-01 9.89354193e-01 -2.58463798e-03 2.98453761e+00] [ 1.98951216e-02 -3.14049541e-04 9.99802023e-01 1.04577906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.31, Y:3.00, Z:1.05 [[ 9.89252219e-01 -1.44881913e-01 -1.97301180e-02 2.30310965e+02] [ 1.44859338e-01 9.89448905e-01 -2.57621070e-03 2.99943740e+00] [ 1.98951900e-02 -3.09569680e-04 9.99802023e-01 1.04552603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.37, Y:3.02, Z:1.05 [[ 9.88847791e-01 -1.47616795e-01 -1.97313851e-02 2.30371914e+02] [ 1.47594958e-01 9.89044560e-01 -2.56646918e-03 3.01656914e+00] [ 1.98940731e-02 -3.74405576e-04 9.99802023e-01 1.04742014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.43, Y:3.03, Z:1.05 [[ 9.88491330e-01 -1.49985063e-01 -1.97324897e-02 2.30433632e+02] [ 1.49963867e-01 9.88688169e-01 -2.55794830e-03 3.03306480e+00] [ 1.98929332e-02 -4.30650745e-04 9.99802023e-01 1.04945979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.49, Y:3.05, Z:1.05 [[ 9.88495256e-01 -1.49959021e-01 -1.97337316e-02 2.30493553e+02] [ 1.49938012e-01 9.88692115e-01 -2.54833138e-03 3.05224044e+00] [ 1.98927301e-02 -4.39823010e-04 9.99802023e-01 1.05188837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.56, Y:3.07, Z:1.05 [[ 9.88768251e-01 -1.48148179e-01 -1.97348123e-02 2.30555378e+02] [ 1.48126977e-01 9.88965089e-01 -2.53993474e-03 3.06978457e+00] [ 1.98933271e-02 -4.11851259e-04 9.99802023e-01 1.05226157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.62, Y:3.09, Z:1.05 [[ 9.88893009e-01 -1.47312949e-01 -1.97360506e-02 2.30616947e+02] [ 1.47291773e-01 9.89089850e-01 -2.53027585e-03 3.08551154e+00] [ 1.98934697e-02 -4.04785783e-04 9.99802023e-01 1.05310735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.68, Y:3.10, Z:1.05 [[ 9.89492371e-01 -1.43231584e-01 -1.97372871e-02 2.30678400e+02] [ 1.43209789e-01 9.89689145e-01 -2.52059374e-03 3.10496361e+00] [ 1.98948074e-02 -3.32464449e-04 9.99802023e-01 1.05462976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.74, Y:3.12, Z:1.06 [[ 9.89996895e-01 -1.39701608e-01 -1.97385188e-02 2.30739706e+02] [ 1.39679305e-01 9.90193611e-01 -2.51091102e-03 3.12479339e+00] [ 1.98957335e-02 -2.71268468e-04 9.99802024e-01 1.05695791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.80, Y:3.14, Z:1.06 [[ 9.90128656e-01 -1.38764503e-01 -1.97397502e-02 2.30801139e+02] [ 1.38742207e-01 9.90325373e-01 -2.50119247e-03 3.13972999e+00] [ 1.98958522e-02 -2.62234186e-04 9.99802024e-01 1.05540267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.86, Y:3.16, Z:1.05 [[ 9.90169345e-01 -1.38473685e-01 -1.97409787e-02 2.30860577e+02] [ 1.38451526e-01 9.90366078e-01 -2.49145879e-03 3.16319691e+00] [ 1.98957971e-02 -2.66202503e-04 9.99802024e-01 1.05416884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.92, Y:3.17, Z:1.06 [[ 9.89826876e-01 -1.40900701e-01 -1.97420409e-02 2.30923087e+02] [ 1.40879192e-01 9.90023680e-01 -2.48301337e-03 3.17470185e+00] [ 1.98949463e-02 -3.23489406e-04 9.99802024e-01 1.05616362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:3.18, Z:1.06 [[ 9.89049321e-01 -1.46258828e-01 -1.97432609e-02 2.30984557e+02] [ 1.46238580e-01 9.89246259e-01 -2.47327438e-03 3.18497362e+00] [ 1.98926852e-02 -4.41036098e-04 9.99802024e-01 1.05590410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.05, Y:3.19, Z:1.06 [[ 9.88624075e-01 -1.49106002e-01 -1.97443052e-02 2.31046527e+02] [ 1.49086488e-01 9.88821088e-01 -2.46490932e-03 3.19465141e+00] [ 1.98911181e-02 -5.06740417e-04 9.99802024e-01 1.05715752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.11, Y:3.21, Z:1.06 [[ 9.88961229e-01 -1.46853112e-01 -1.97446707e-02 2.31108303e+02] [ 1.46833207e-01 9.89158202e-01 -2.46197800e-03 3.20794868e+00] [ 1.98921521e-02 -4.64372544e-04 9.99802024e-01 1.06016541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.17, Y:3.22, Z:1.06 [[ 9.89146049e-01 -1.45602864e-01 -1.97458522e-02 2.31170648e+02] [ 1.45582901e-01 9.89343017e-01 -2.45246582e-03 3.21669216e+00] [ 1.98925070e-02 -4.48811552e-04 9.99802024e-01 1.06025926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.23, Y:3.22, Z:1.06 [[ 9.89266603e-01 -1.44781363e-01 -1.97470305e-02 2.31232432e+02] [ 1.44761426e-01 9.89463573e-01 -2.44294107e-03 3.22499747e+00] [ 1.98926597e-02 -4.41888278e-04 9.99802024e-01 1.06182756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.29, Y:3.23, Z:1.06 [[ 9.89010237e-01 -1.46522236e-01 -1.97480452e-02 2.31294964e+02] [ 1.46502809e-01 9.89207258e-01 -2.43471075e-03 3.23290298e+00] [ 1.98916489e-02 -4.85190236e-04 9.99802024e-01 1.06426132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.36, Y:3.24, Z:1.06 [[ 9.88778979e-01 -1.48074644e-01 -1.97492029e-02 2.31357071e+02] [ 1.48055715e-01 9.88976048e-01 -2.42528368e-03 3.24220966e+00] [ 1.98906116e-02 -5.25912826e-04 9.99802024e-01 1.06422745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.42, Y:3.25, Z:1.07 [[ 9.88680025e-01 -1.48733781e-01 -1.97502015e-02 2.31419191e+02] [ 1.48715147e-01 9.88877122e-01 -2.41712362e-03 3.25370387e+00] [ 1.98900304e-02 -5.47392281e-04 9.99802024e-01 1.06527194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.48, Y:3.26, Z:1.07 [[ 9.88280188e-01 -1.51367614e-01 -1.97513478e-02 2.31481315e+02] [ 1.51349693e-01 9.88477351e-01 -2.40772086e-03 3.25585474e+00] [ 1.98882109e-02 -6.09857589e-04 9.99802024e-01 1.06538420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.54, Y:3.26, Z:1.07 [[ 9.87513461e-01 -1.56291424e-01 -1.97523474e-02 2.31543006e+02] [ 1.56274650e-01 9.87710725e-01 -2.39949185e-03 3.26163401e+00] [ 1.98846254e-02 -7.17260675e-04 9.99802024e-01 1.06642008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.61, Y:3.27, Z:1.07 [[ 9.86652901e-01 -1.61634956e-01 -1.97533237e-02 2.31605564e+02] [ 1.61619411e-01 9.86850266e-01 -2.39142741e-03 3.26651181e+00] [ 1.98801110e-02 -8.33011756e-04 9.99802024e-01 1.06918032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.67, Y:3.27, Z:1.07 [[ 9.86397595e-01 -1.63185639e-01 -1.97542903e-02 2.31668790e+02] [ 1.63170564e-01 9.86594996e-01 -2.38341611e-03 3.27002706e+00] [ 1.98784233e-02 -8.72322777e-04 9.99802024e-01 1.07141393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:3.27, Z:1.07 [[ 9.86408306e-01 -1.63120747e-01 -1.97553771e-02 2.31732677e+02] [ 1.63105840e-01 9.86605720e-01 -2.37437383e-03 3.27047368e+00] [ 1.98780777e-02 -8.80115303e-04 9.99802024e-01 1.07328171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.79, Y:3.27, Z:1.07 [[ 9.86622139e-01 -1.61822243e-01 -1.97564578e-02 2.31794871e+02] [ 1.61807256e-01 9.86819546e-01 -2.36534717e-03 3.27363869e+00] [ 1.98788245e-02 -8.63034347e-04 9.99802024e-01 1.07303005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.86, Y:3.27, Z:1.08 [[ 9.87029548e-01 -1.59318284e-01 -1.97574024e-02 2.31858734e+02] [ 1.59302955e-01 9.87226930e-01 -2.35743100e-03 3.27383812e+00] [ 1.98806215e-02 -8.20558522e-04 9.99802024e-01 1.07576307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.92, Y:3.28, Z:1.08 [[ 9.87697421e-01 -1.55123843e-01 -1.97584959e-02 2.31921521e+02] [ 1.55107859e-01 9.87894750e-01 -2.34823013e-03 3.27680703e+00] [ 1.98835808e-02 -7.45357154e-04 9.99802024e-01 1.07769893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:3.28, Z:1.08 [[ 9.88387090e-01 -1.50666918e-01 -1.97595759e-02 2.31984367e+02] [ 1.50650226e-01 9.88584361e-01 -2.33910618e-03 3.28057827e+00] [ 1.98864337e-02 -6.64842245e-04 9.99802024e-01 1.07770058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.05, Y:3.29, Z:1.08 [[ 9.88779251e-01 -1.48071297e-01 -1.97606701e-02 2.32046566e+02] [ 1.48054273e-01 9.88976493e-01 -2.32982553e-03 3.28993028e+00] [ 1.98878185e-02 -6.21968509e-04 9.99802024e-01 1.08092528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.11, Y:3.30, Z:1.08 [[ 9.88708736e-01 -1.48541268e-01 -1.97617682e-02 2.32108775e+02] [ 1.48524525e-01 9.88906002e-01 -2.32047381e-03 3.29768228e+00] [ 1.98872174e-02 -6.40834508e-04 9.99802024e-01 1.08045148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.17, Y:3.30, Z:1.08 [[ 9.88601894e-01 -1.49250562e-01 -1.97627290e-02 2.32171672e+02] [ 1.49234124e-01 9.88799186e-01 -2.31226223e-03 3.30050571e+00] [ 1.98864768e-02 -6.63366723e-04 9.99802024e-01 1.08300901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.23, Y:3.31, Z:1.10 [[ 9.88655287e-01 -1.48896326e-01 -1.97638184e-02 2.32231683e+02] [ 1.48880004e-01 9.88852588e-01 -2.30291340e-03 3.30543645e+00] [ 1.98863983e-02 -6.65649844e-04 9.99802024e-01 1.10429926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.29, Y:3.30, Z:1.08 [[ 9.88052035e-01 -1.52848182e-01 -1.97638287e-02 2.32293691e+02] [ 1.52832651e-01 9.88249401e-01 -2.30282483e-03 3.30405893e+00] [ 1.98835744e-02 -7.45247556e-04 9.99802024e-01 1.08474120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.36, Y:3.31, Z:1.09 [[ 9.88128848e-01 -1.52350809e-01 -1.97638485e-02 2.32356698e+02] [ 1.52335182e-01 9.88326206e-01 -2.30265494e-03 3.30990413e+00] [ 1.98839407e-02 -7.35409683e-04 9.99802024e-01 1.08615356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:232.42, Y:3.31, Z:1.11 [[ 9.88365329e-01 -1.50808898e-01 -1.97649280e-02 2.32417404e+02] [ 1.50793148e-01 9.88562677e-01 -2.29335144e-03 3.30912992e+00] [ 1.98847279e-02 -7.13746667e-04 9.99802024e-01 1.10821126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.48, Y:3.32, Z:1.09 [[ 9.89287854e-01 -1.44633642e-01 -1.97649252e-02 2.32478594e+02] [ 1.44616660e-01 9.89485099e-01 -2.29337531e-03 3.31666422e+00] [ 1.98887982e-02 -5.89529129e-04 9.99802024e-01 1.09051571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.54, Y:3.32, Z:1.09 [[ 9.89813105e-01 -1.40994182e-01 -1.97650479e-02 2.32541174e+02] [ 1.40976496e-01 9.90010289e-01 -2.29231691e-03 3.32376033e+00] [ 1.98908042e-02 -5.17441883e-04 9.99802024e-01 1.09384906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.60, Y:3.33, Z:1.09 [[ 9.90750123e-01 -1.34251604e-01 -1.97661410e-02 2.32604125e+02] [ 1.34232764e-01 9.90947200e-01 -2.28285231e-03 3.32963224e+00] [ 1.98936787e-02 -3.91527546e-04 9.99802025e-01 1.09419596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.67, Y:3.34, Z:1.09 [[ 9.91248837e-01 -1.30518197e-01 -1.97672458e-02 2.32665917e+02] [ 1.30498807e-01 9.91445860e-01 -2.27324549e-03 3.33700194e+00] [ 1.98948540e-02 -3.26250056e-04 9.99802025e-01 1.09353440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.73, Y:3.35, Z:1.10 [[ 9.91252246e-01 -1.30492151e-01 -1.97682246e-02 2.32727985e+02] [ 1.30472926e-01 9.91449286e-01 -2.26470238e-03 3.34507057e+00] [ 1.98947180e-02 -3.34326784e-04 9.99802025e-01 1.09552397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:232.79, Y:3.35, Z:1.12 [[ 9.90925747e-01 -1.32948641e-01 -1.97692595e-02 2.32787280e+02] [ 1.32930085e-01 9.91122850e-01 -2.25563158e-03 3.35496051e+00] [ 1.98936480e-02 -3.92765932e-04 9.99802025e-01 1.12030559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.85, Y:3.36, Z:1.10 [[ 9.90949453e-01 -1.32771830e-01 -1.97692539e-02 2.32848546e+02] [ 1.32753238e-01 9.91146553e-01 -2.25568113e-03 3.36147709e+00] [ 1.98937187e-02 -3.89166485e-04 9.99802025e-01 1.09885548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:3.37, Z:1.10 [[ 9.90300992e-01 -1.37524973e-01 -1.97693673e-02 2.32911523e+02] [ 1.37507347e-01 9.90498181e-01 -2.25468641e-03 3.36684029e+00] [ 1.98915980e-02 -4.85615060e-04 9.99802025e-01 1.09895487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:232.98, Y:3.36, Z:1.10 [[ 9.89085355e-01 -1.46011264e-01 -1.97704593e-02 2.32975592e+02] [ 1.45995521e-01 9.89282703e-01 -2.24506988e-03 3.36366734e+00] [ 1.98863790e-02 -6.65832785e-04 9.99802025e-01 1.09952193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.04, Y:3.36, Z:1.10 [[ 9.88417253e-01 -1.50467340e-01 -1.97715274e-02 2.33038800e+02] [ 1.50452675e-01 9.88614685e-01 -2.23562428e-03 3.36002658e+00] [ 1.98828107e-02 -7.64949580e-04 9.99802025e-01 1.10029506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.10, Y:3.36, Z:1.10 [[ 9.88898616e-01 -1.47270420e-01 -1.97724539e-02 2.33102672e+02] [ 1.47255282e-01 9.89096012e-01 -2.22739940e-03 3.35645400e+00] [ 1.98848854e-02 -7.08926089e-04 9.99802025e-01 1.10256165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.17, Y:3.35, Z:1.10 [[ 9.90397286e-01 -1.36829181e-01 -1.97735012e-02 2.33166346e+02] [ 1.36812147e-01 9.90594527e-01 -2.21806322e-03 3.35477859e+00] [ 1.98910178e-02 -5.08491355e-04 9.99802025e-01 1.10445140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.23, Y:3.36, Z:1.10 [[ 9.91318927e-01 -1.29983661e-01 -1.97745598e-02 2.33229531e+02] [ 1.29965453e-01 9.91516063e-01 -2.20858479e-03 3.35545272e+00] [ 1.98938736e-02 -3.80597728e-04 9.99802025e-01 1.10457983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:233.29, Y:3.36, Z:1.12 [[ 9.93025998e-01 -1.16225173e-01 -1.97756344e-02 2.33291667e+02] [ 1.16204427e-01 9.93222883e-01 -2.19892086e-03 3.35687864e+00] [ 1.98971826e-02 -1.14430676e-04 9.99802025e-01 1.12114198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342320588 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:233.35, Y:3.36, Z:1.12 [[ 9.93654758e-01 -1.10720862e-01 -1.97765882e-02 2.33353272e+02] [ 1.10699196e-01 9.93851544e-01 -2.19030858e-03 3.35753638e+00] [ 1.98975056e-02 -1.28418731e-05 9.99802025e-01 1.12296583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.41, Y:3.37, Z:1.11 [[ 9.94426056e-01 -1.03564944e-01 -1.97767997e-02 2.33414310e+02] [ 1.03541900e-01 9.94622685e-01 -2.18839779e-03 3.36720741e+00] [ 1.98970949e-02 1.28472365e-04 9.99802025e-01 1.10796461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46232058799998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:233.47, Y:3.38, Z:1.12 [[ 9.94982441e-01 -9.80755598e-02 -1.97769423e-02 2.33474827e+02] [ 9.80514566e-02 9.95178943e-01 -2.18710757e-03 3.37769181e+00] [ 1.98960984e-02 2.36975621e-04 9.99802025e-01 1.12104751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52232058799999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:233.53, Y:3.39, Z:1.13 [[ 9.94484966e-01 -1.02997648e-01 -1.97771551e-02 2.33534874e+02] [ 1.02974556e-01 9.94681590e-01 -2.18518212e-03 3.38543240e+00] [ 1.98970407e-02 1.36587004e-04 9.99802025e-01 1.13009440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.60, Y:3.39, Z:1.11 [[ 9.93666017e-01 -1.10619650e-01 -1.97772263e-02 2.33595526e+02] [ 1.10598079e-01 9.93862814e-01 -2.18453711e-03 3.39268732e+00] [ 1.98975025e-02 -1.66229566e-05 9.99802025e-01 1.11237729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642320588 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:233.66, Y:3.40, Z:1.13 [[ 9.92673961e-01 -1.19194245e-01 -1.97772296e-02 2.33655504e+02] [ 1.19174375e-01 9.92870936e-01 -2.18450753e-03 3.40107985e+00] [ 1.98966172e-02 -1.88435224e-04 9.99802025e-01 1.13276176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.72, Y:3.40, Z:1.11 [[ 9.92811395e-01 -1.18044028e-01 -1.97772964e-02 2.33716693e+02] [ 1.18023941e-01 9.93008348e-01 -2.18390236e-03 3.40336469e+00] [ 1.98968171e-02 -1.65991321e-04 9.99802025e-01 1.11382096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:233.78, Y:3.41, Z:1.11 [[ 9.92838612e-01 -1.17814885e-01 -1.97773369e-02 2.33779414e+02] [ 1.17794760e-01 9.93035562e-01 -2.18353537e-03 3.41425672e+00] [ 1.98968519e-02 -1.61768425e-04 9.99802025e-01 1.11423799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822320588 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:233.84, Y:3.41, Z:1.14 [[ 9.93013321e-01 -1.16332960e-01 -1.97784451e-02 2.33840492e+02] [ 1.16312742e-01 9.93210261e-01 -2.17345089e-03 3.41194346e+00] [ 1.98969986e-02 -1.42219494e-04 9.99802025e-01 1.13696271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:3.42, Z:1.12 [[ 9.93812066e-01 -1.09299536e-01 -1.97785066e-02 2.33900655e+02] [ 1.09277935e-01 9.94008859e-01 -2.17289164e-03 3.41994512e+00] [ 1.98975068e-02 -1.90841812e-06 9.99802025e-01 1.11646344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:233.96, Y:3.42, Z:1.12 [[ 9.94545752e-01 -1.02408779e-01 -1.97784954e-02 2.33962491e+02] [ 1.02385812e-01 9.94742391e-01 -2.17299344e-03 3.42497865e+00] [ 1.98970414e-02 1.36104078e-04 9.99802025e-01 1.11785393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002320588 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:3.43, Z:1.14 [[ 9.94979019e-01 -9.81097568e-02 -1.97794638e-02 2.34022346e+02] [ 9.80861168e-02 9.95175578e-01 -2.16414294e-03 3.43296028e+00] [ 1.98963628e-02 2.13186031e-04 9.99802025e-01 1.13634419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:3.44, Z:1.12 [[ 9.94966570e-01 -9.82359188e-02 -1.97795279e-02 2.34083130e+02] [ 9.82123154e-02 9.95163132e-01 -2.16355645e-03 3.44248590e+00] [ 1.98963959e-02 2.10073104e-04 9.99802025e-01 1.12334630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122320588 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:234.14, Y:3.45, Z:1.14 [[ 9.95092898e-01 -9.69478800e-02 -1.97796321e-02 2.34142828e+02] [ 9.69240411e-02 9.95289432e-01 -2.16260382e-03 3.45111802e+00] [ 1.98961186e-02 2.34869834e-04 9.99802025e-01 1.14096000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:3.46, Z:1.12 [[ 9.95337329e-01 -9.44053344e-02 -1.97796512e-02 2.34203169e+02] [ 9.43809970e-02 9.95533802e-01 -2.16242917e-03 3.46158329e+00] [ 1.98954562e-02 2.85523279e-04 9.99802025e-01 1.12396254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:234.26, Y:3.47, Z:1.13 [[ 9.95578087e-01 -9.18315747e-02 -1.97796649e-02 2.34262986e+02] [ 9.18067319e-02 9.95774497e-01 -2.16230317e-03 3.46922128e+00] [ 1.98946536e-02 3.36835253e-04 9.99802025e-01 1.12627975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:3.48, Z:1.13 [[ 9.96019548e-01 -8.69127447e-02 -1.97796649e-02 2.34322617e+02] [ 8.68869320e-02 9.96215833e-01 -2.16230317e-03 3.48156936e+00] [ 1.98927471e-02 4.35101820e-04 9.99802025e-01 1.12717244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:3.49, Z:1.13 [[ 9.96131182e-01 -8.56237838e-02 -1.97796649e-02 2.34381981e+02] [ 8.55977171e-02 9.96327434e-01 -2.16230317e-03 3.49125753e+00] [ 1.98921674e-02 4.60843446e-04 9.99802025e-01 1.13023534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:3.50, Z:1.13 [[ 9.96219680e-01 -8.45879021e-02 -1.97796649e-02 2.34441031e+02] [ 8.45616313e-02 9.96415905e-01 -2.16230317e-03 3.50296037e+00] [ 1.98916774e-02 4.81528235e-04 9.99802025e-01 1.13137050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.50, Y:3.51, Z:1.13 [[ 9.96125453e-01 -8.56904301e-02 -1.97795939e-02 2.34500967e+02] [ 8.56643636e-02 9.96321704e-01 -2.16295263e-03 3.51356652e+00] [ 1.98921831e-02 4.60165838e-04 9.99802025e-01 1.13342057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:3.52, Z:1.13 [[ 9.96055259e-01 -8.65025400e-02 -1.97795939e-02 2.34560970e+02] [ 8.64766335e-02 9.96251531e-01 -2.16295263e-03 3.52043181e+00] [ 1.98925516e-02 4.43947643e-04 9.99802025e-01 1.13373256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:234.62, Y:3.53, Z:1.15 [[ 9.96177254e-01 -8.50861061e-02 -1.97795939e-02 2.34620735e+02] [ 8.50599206e-02 9.96373490e-01 -2.16295262e-03 3.53408909e+00] [ 1.98919002e-02 4.72233520e-04 9.99802025e-01 1.15338753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:234.68, Y:3.55, Z:1.15 [[ 9.96808367e-01 -7.73423829e-02 -1.97796486e-02 2.34680380e+02] [ 7.73146832e-02 9.97004395e-01 -2.16245215e-03 3.55061462e+00] [ 1.98876458e-02 6.26293127e-04 9.99802025e-01 1.15318415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:234.74, Y:3.57, Z:1.15 [[ 9.96729664e-01 -7.83500905e-02 -1.97797909e-02 2.34739684e+02] [ 7.83226148e-02 9.96925723e-01 -2.16114976e-03 3.56793317e+00] [ 1.98883087e-02 6.04877133e-04 9.99802025e-01 1.15155181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.80, Y:3.58, Z:1.14 [[ 9.96538103e-01 -8.07500282e-02 -1.97798621e-02 2.34800031e+02] [ 8.07230376e-02 9.96734229e-01 -2.16049774e-03 3.58007964e+00] [ 1.98897259e-02 5.56327765e-04 9.99802025e-01 1.13792595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.86, Y:3.60, Z:1.14 [[ 9.96256804e-01 -8.41494738e-02 -1.97799313e-02 2.34860435e+02] [ 8.41231651e-02 9.96453024e-01 -2.15986484e-03 3.60019463e+00] [ 1.98915238e-02 4.87829623e-04 9.99802025e-01 1.13922190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.92, Y:3.61, Z:1.14 [[ 9.96263699e-01 -8.40675788e-02 -1.97809076e-02 2.34922707e+02] [ 8.40414321e-02 9.96459940e-01 -2.15088581e-03 3.61251735e+00] [ 1.98917017e-02 4.80433646e-04 9.99802025e-01 1.14018957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:3.63, Z:1.14 [[ 9.96200188e-01 -8.48166091e-02 -1.97820081e-02 2.34985059e+02] [ 8.47908118e-02 9.96396475e-01 -2.14071621e-03 3.62640796e+00] [ 1.98922914e-02 4.55249367e-04 9.99802025e-01 1.14071326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.05, Y:3.64, Z:1.15 [[ 9.95699891e-01 -9.05005818e-02 -1.97831187e-02 2.35046549e+02] [ 9.04761100e-02 9.95896347e-01 -2.13040343e-03 3.63975859e+00] [ 1.98947384e-02 3.31342844e-04 9.99802025e-01 1.15379988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:3.65, Z:1.16 [[ 9.95520018e-01 -9.24581400e-02 -1.97834634e-02 2.35108119e+02] [ 9.24341182e-02 9.95716530e-01 -2.12719730e-03 3.64868742e+00] [ 1.98953982e-02 2.89000505e-04 9.99802025e-01 1.15500739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:3.66, Z:1.14 [[ 9.95794293e-01 -8.94555922e-02 -1.97844056e-02 2.35169739e+02] [ 8.94311526e-02 9.95990754e-01 -2.11839823e-03 3.65700916e+00] [ 1.98945876e-02 3.40146679e-04 9.99802025e-01 1.14437272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:3.66, Z:1.16 [[ 9.94855371e-01 -9.93545775e-02 -1.97853253e-02 2.35232299e+02] [ 9.93322645e-02 9.95052084e-01 -2.10977325e-03 3.65928630e+00] [ 1.98970448e-02 1.33598088e-04 9.99802025e-01 1.15753481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.30, Y:3.66, Z:1.16 [[ 9.93571181e-01 -1.11466751e-01 -1.97856674e-02 2.35295332e+02] [ 1.11446900e-01 9.93768158e-01 -2.10655946e-03 3.65636751e+00] [ 1.98971776e-02 -1.12034530e-04 9.99802025e-01 1.16177247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:3.65, Z:1.16 [[ 9.93064360e-01 -1.15895070e-01 -1.97866130e-02 2.35358595e+02] [ 1.15876275e-01 9.93261440e-01 -2.09764044e-03 3.65104315e+00] [ 1.98963859e-02 -2.09707037e-04 9.99802025e-01 1.15926417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.42, Y:3.64, Z:1.16 [[ 9.92975098e-01 -1.16657220e-01 -1.97875537e-02 2.35421243e+02] [ 1.16638754e-01 9.93172210e-01 -2.08872826e-03 3.64233987e+00] [ 1.98961137e-02 -2.33940457e-04 9.99802025e-01 1.16458212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.48, Y:3.64, Z:1.16 [[ 9.93342815e-01 -1.13483475e-01 -1.97876861e-02 2.35484573e+02] [ 1.13464404e-01 9.93539869e-01 -2.08747351e-03 3.63724744e+00] [ 1.98967488e-02 -1.71621207e-04 9.99802025e-01 1.16300426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.55, Y:3.64, Z:1.15 [[ 9.93834280e-01 -1.09095532e-01 -1.97886128e-02 2.35546939e+02] [ 1.09075767e-01 9.94031265e-01 -2.07865116e-03 3.63853056e+00] [ 1.98972714e-02 -9.26233374e-05 9.99802025e-01 1.15160613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.61, Y:3.64, Z:1.15 [[ 9.94341176e-01 -1.04374328e-01 -1.97895216e-02 2.35609960e+02] [ 1.04353800e-01 9.94538084e-01 -2.06996235e-03 3.64064241e+00] [ 1.98974839e-02 -6.86298874e-06 9.99802025e-01 1.15102423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:3.64, Z:1.15 [[ 9.94736733e-01 -1.00534403e-01 -1.97905733e-02 2.35673675e+02] [ 1.00513316e-01 9.94933581e-01 -2.05985821e-03 3.64196237e+00] [ 1.98973926e-02 5.98004705e-05 9.99802025e-01 1.15379903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.74, Y:3.65, Z:1.16 [[ 9.94790576e-01 -1.00000009e-01 -1.97916391e-02 2.35735851e+02] [ 9.99790216e-02 9.94987434e-01 -2.04956660e-03 3.64681795e+00] [ 1.98973889e-02 6.01408285e-05 9.99802026e-01 1.15695536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.80, Y:3.65, Z:1.16 [[ 9.94865118e-01 -9.92554892e-02 -1.97925623e-02 2.35798425e+02] [ 9.92345323e-02 9.95061980e-01 -2.04061180e-03 3.65148932e+00] [ 1.98973682e-02 6.60278318e-05 9.99802026e-01 1.15647950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.86, Y:3.66, Z:1.16 [[ 9.94678981e-01 -1.01103599e-01 -1.97936153e-02 2.35860837e+02] [ 1.01083212e-01 9.94875903e-01 -2.03034645e-03 3.65690363e+00] [ 1.98974662e-02 1.87407302e-05 9.99802026e-01 1.15835600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.92, Y:3.66, Z:1.16 [[ 9.93932944e-01 -1.08191860e-01 -1.97945321e-02 2.35923154e+02] [ 1.08173056e-01 9.94130024e-01 -2.02136860e-03 3.66034814e+00] [ 1.98970343e-02 -1.32130188e-04 9.99802026e-01 1.16101816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:235.99, Y:3.65, Z:1.18 [[ 9.92697215e-01 -1.18997397e-01 -1.97954370e-02 2.35986626e+02] [ 1.18980915e-01 9.92894502e-01 -2.01246749e-03 3.65233511e+00] [ 1.98942590e-02 -3.57508341e-04 9.99802026e-01 1.17526414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.05, Y:3.65, Z:1.16 [[ 9.91823980e-01 -1.26068711e-01 -1.97957547e-02 2.36050268e+02] [ 1.26053699e-01 9.92021385e-01 -2.00933750e-03 3.64670717e+00] [ 1.98911266e-02 -5.02418990e-04 9.99802026e-01 1.16104702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.11, Y:3.64, Z:1.16 [[ 9.91675020e-01 -1.27235012e-01 -1.97966259e-02 2.36113894e+02] [ 1.27220404e-01 9.91872454e-01 -2.00071777e-03 3.63819318e+00] [ 1.98902892e-02 -5.34472898e-04 9.99802026e-01 1.16400954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.18, Y:3.63, Z:1.16 [[ 9.91653528e-01 -1.27402279e-01 -1.97974729e-02 2.36177020e+02] [ 1.27387872e-01 9.91850977e-01 -1.99230095e-03 3.63059981e+00] [ 1.98899665e-02 -5.46285683e-04 9.99802026e-01 1.16387334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.24, Y:3.62, Z:1.16 [[ 9.91680900e-01 -1.27188914e-01 -1.97983242e-02 2.36239793e+02] [ 1.27174634e-01 9.91878358e-01 -1.98380493e-03 3.62419990e+00] [ 1.98898473e-02 -5.50543179e-04 9.99802026e-01 1.16360262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.30, Y:3.61, Z:1.16 [[ 9.91894706e-01 -1.25510611e-01 -1.97984467e-02 2.36300806e+02] [ 1.25496021e-01 9.92092142e-01 -1.98258132e-03 3.61088323e+00] [ 1.98907184e-02 -5.18114373e-04 9.99802026e-01 1.16265417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.36, Y:3.61, Z:1.16 [[ 9.92260055e-01 -1.22588782e-01 -1.97983246e-02 2.36360397e+02] [ 1.22573586e-01 9.92457445e-01 -1.98379992e-03 3.60872588e+00] [ 1.98921863e-02 -4.58306233e-04 9.99802026e-01 1.16433482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.42, Y:3.61, Z:1.17 [[ 9.92959552e-01 -1.16787691e-01 -1.97980759e-02 2.36419303e+02] [ 1.16771293e-01 9.93156846e-01 -1.98627943e-03 3.60643566e+00] [ 1.98945676e-02 -3.39551772e-04 9.99802026e-01 1.16724175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.48, Y:3.61, Z:1.17 [[ 9.93436471e-01 -1.12658880e-01 -1.97978241e-02 2.36478316e+02] [ 1.12641612e-01 9.93633691e-01 -1.98878519e-03 3.60719493e+00] [ 1.98958394e-02 -2.54327081e-04 9.99802026e-01 1.16713980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.54, Y:3.60, Z:1.17 [[ 9.93559087e-01 -1.11572384e-01 -1.97975723e-02 2.36537567e+02] [ 1.11554850e-01 9.93756283e-01 -1.99128904e-03 3.60230219e+00] [ 1.98961347e-02 -2.30051888e-04 9.99802026e-01 1.17009814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52232058799999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:3.61, Z:1.17 [[ 9.93821419e-01 -1.09211054e-01 -1.97973160e-02 2.36595151e+02] [ 1.09193001e-01 9.94018568e-01 -1.99383352e-03 3.60797557e+00] [ 1.98966484e-02 -1.80213884e-04 9.99802026e-01 1.17208093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.65, Y:3.61, Z:1.17 [[ 9.94162196e-01 -1.06064179e-01 -1.97969244e-02 2.36654786e+02] [ 1.06045425e-01 9.94359280e-01 -1.99771421e-03 3.60700112e+00] [ 1.98971414e-02 -1.13321317e-04 9.99802026e-01 1.17370618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:236.71, Y:3.61, Z:1.19 [[ 9.94655696e-01 -1.01331821e-01 -1.97966626e-02 2.36714332e+02] [ 1.01312077e-01 9.94852683e-01 -2.00030557e-03 3.61046333e+00] [ 1.98974575e-02 -1.60256861e-05 9.99802026e-01 1.19117094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.77, Y:3.61, Z:1.18 [[ 9.95181689e-01 -9.60286480e-02 -1.97965968e-02 2.36773521e+02] [ 9.60078416e-02 9.95378566e-01 -2.00095679e-03 3.61412549e+00] [ 1.98972573e-02 9.06870338e-05 9.99802026e-01 1.17680477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.83, Y:3.62, Z:1.18 [[ 9.95746015e-01 -8.99887725e-02 -1.97963065e-02 2.36831769e+02] [ 8.99667149e-02 9.95942757e-01 -2.00382411e-03 3.62426215e+00] [ 1.98963098e-02 2.14291202e-04 9.99802026e-01 1.17876102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:236.89, Y:3.63, Z:1.18 [[ 9.96011719e-01 -8.69986930e-02 -1.97960388e-02 2.36890096e+02] [ 8.69759923e-02 9.96208387e-01 -2.00646568e-03 3.62978716e+00] [ 1.98955398e-02 2.76683210e-04 9.99802026e-01 1.17834847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882320588 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:236.95, Y:3.64, Z:1.20 [[ 9.95740242e-01 -9.00527538e-02 -1.97957725e-02 2.36949202e+02] [ 9.00306042e-02 9.95936973e-01 -2.00908971e-03 3.63676706e+00] [ 1.98962658e-02 2.18306121e-04 9.99802026e-01 1.19734084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.01, Y:3.64, Z:1.18 [[ 9.95166828e-01 -9.61827110e-02 -1.97957047e-02 2.37009373e+02] [ 9.61617600e-02 9.95363691e-01 -2.00975769e-03 3.63977499e+00] [ 1.98972296e-02 9.64543892e-05 9.99802026e-01 1.18349195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.07, Y:3.64, Z:1.18 [[ 9.94617445e-01 -1.01706790e-01 -1.97956356e-02 2.37068050e+02] [ 1.01686919e-01 9.94814419e-01 -2.01043773e-03 3.64372014e+00] [ 1.98974589e-02 -1.33407559e-05 9.99802026e-01 1.18104169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.13, Y:3.65, Z:1.18 [[ 9.94307197e-01 -1.04696428e-01 -1.97953644e-02 2.37126453e+02] [ 1.04677096e-01 9.94504225e-01 -2.01310429e-03 3.64855353e+00] [ 1.98973384e-02 -7.04771821e-05 9.99802026e-01 1.18431423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.19, Y:3.65, Z:1.19 [[ 9.94102690e-01 -1.06620805e-01 -1.97950973e-02 2.37185583e+02] [ 1.06601802e-01 9.94299750e-01 -2.01572774e-03 3.64717820e+00] [ 1.98971788e-02 -1.06352670e-04 9.99802026e-01 1.18691611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.24, Y:3.65, Z:1.19 [[ 9.94043378e-01 -1.07172419e-01 -1.97948311e-02 2.37244189e+02] [ 1.07153473e-01 9.94240444e-01 -2.01833795e-03 3.65265708e+00] [ 1.98971318e-02 -1.14769434e-04 9.99802026e-01 1.18632303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.30, Y:3.66, Z:1.19 [[ 9.94435036e-01 -1.03475280e-01 -1.97945628e-02 2.37302573e+02] [ 1.03455550e-01 9.94632025e-01 -2.02096593e-03 3.65715263e+00] [ 1.98974261e-02 -3.81380545e-05 9.99802026e-01 1.19371418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.36, Y:3.66, Z:1.19 [[ 9.94420240e-01 -1.03617433e-01 -1.97942948e-02 2.37361420e+02] [ 1.03597678e-01 9.94617226e-01 -2.02358772e-03 3.66192092e+00] [ 1.98974255e-02 -3.83463975e-05 9.99802026e-01 1.19446716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.42, Y:3.67, Z:1.21 [[ 9.94408419e-01 -1.03730865e-01 -1.97940242e-02 2.37420804e+02] [ 1.03711080e-01 9.94605402e-01 -2.02623110e-03 3.66558261e+00] [ 1.98974261e-02 -3.79583685e-05 9.99802026e-01 1.21132951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.48, Y:3.67, Z:1.20 [[ 9.94416042e-01 -1.03657788e-01 -1.97938888e-02 2.37480601e+02] [ 1.03637962e-01 9.94613021e-01 -2.02755293e-03 3.67324667e+00] [ 1.98974312e-02 -3.51671480e-05 9.99802026e-01 1.19624779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.54, Y:3.67, Z:1.20 [[ 9.94576040e-01 -1.02111243e-01 -1.97938210e-02 2.37539470e+02] [ 1.02091098e-01 9.94772986e-01 -2.02821447e-03 3.67489936e+00] [ 1.98974619e-02 -3.55941509e-06 9.99802026e-01 1.19774054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.60, Y:3.68, Z:1.20 [[ 9.94525357e-01 -1.02603752e-01 -1.97935493e-02 2.37598525e+02] [ 1.02583652e-01 9.94722308e-01 -2.03086245e-03 3.67701081e+00] [ 1.98974592e-02 -1.07503754e-05 9.99802026e-01 1.19644896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:237.66, Y:3.68, Z:1.22 [[ 9.94720025e-01 -1.00699046e-01 -1.97932768e-02 2.37657591e+02] [ 1.00678516e-01 9.94916932e-01 -2.03351509e-03 3.68350779e+00] [ 1.98974393e-02 3.00204532e-05 9.99802026e-01 1.21628185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.72, Y:3.69, Z:1.20 [[ 9.95056016e-01 -9.73229472e-02 -1.97931410e-02 2.37717073e+02] [ 9.73017228e-02 9.95252849e-01 -2.03483583e-03 3.69242693e+00] [ 1.98972162e-02 9.88689095e-05 9.99802026e-01 1.20264464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.78, Y:3.70, Z:1.20 [[ 9.95134547e-01 -9.65166832e-02 -1.97930081e-02 2.37775780e+02] [ 9.64952737e-02 9.95331360e-01 -2.03612769e-03 3.69521529e+00] [ 1.98971220e-02 1.16289273e-04 9.99802026e-01 1.20419578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.83, Y:3.70, Z:1.20 [[ 9.94806737e-01 -9.98388903e-02 -1.97927347e-02 2.37833974e+02] [ 9.98180853e-02 9.95003615e-01 -2.03878235e-03 3.70377643e+00] [ 1.98973923e-02 5.25215413e-05 9.99802026e-01 1.20469608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.89, Y:3.71, Z:1.22 [[ 9.94297255e-01 -1.04791351e-01 -1.97924573e-02 2.37892467e+02] [ 1.04771473e-01 9.94494229e-01 -2.04147141e-03 3.71041638e+00] [ 1.98974131e-02 -4.38554931e-05 9.99802026e-01 1.22376373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.95, Y:3.72, Z:1.22 [[ 9.94059809e-01 -1.07020388e-01 -1.97922518e-02 2.37951500e+02] [ 1.07000912e-01 9.94256823e-01 -2.04346225e-03 3.71531916e+00] [ 1.98972735e-02 -8.64653028e-05 9.99802026e-01 1.22398978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:238.01, Y:3.71, Z:1.21 [[ 9.93506680e-01 -1.12039074e-01 -1.97919774e-02 2.38011078e+02] [ 1.12020540e-01 9.93703785e-01 -2.04611680e-03 3.71482384e+00] [ 1.98966078e-02 -1.84277282e-04 9.99802026e-01 1.21014648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.07, Y:3.72, Z:1.21 [[ 9.93065880e-01 -1.15881173e-01 -1.97917031e-02 2.38069875e+02] [ 1.15863349e-01 9.93263050e-01 -2.04876663e-03 3.71588605e+00] [ 1.98957808e-02 -2.58572766e-04 9.99802026e-01 1.21153007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:238.13, Y:3.72, Z:1.21 [[ 9.92813945e-01 -1.18020205e-01 -1.97914370e-02 2.38129120e+02] [ 1.18002755e-01 9.93011149e-01 -2.05133362e-03 3.71583284e+00] [ 1.98952164e-02 -2.98851471e-04 9.99802026e-01 1.21376378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.19, Y:3.72, Z:1.22 [[ 9.92446221e-01 -1.21073566e-01 -1.97911724e-02 2.38187984e+02] [ 1.21056672e-01 9.92643473e-01 -2.05388357e-03 3.71807452e+00] [ 1.98942491e-02 -3.57484477e-04 9.99802026e-01 1.22491180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.25, Y:3.72, Z:1.21 [[ 9.92468216e-01 -1.20893176e-01 -1.97909059e-02 2.38248118e+02] [ 1.20876194e-01 9.92665461e-01 -2.05644805e-03 3.71545321e+00] [ 1.98943592e-02 -3.51290057e-04 9.99802026e-01 1.21405709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.31, Y:3.71, Z:1.22 [[ 9.92531771e-01 -1.20370311e-01 -1.97907070e-02 2.38307641e+02] [ 1.20353187e-01 9.92729003e-01 -2.05836037e-03 3.71468181e+00] [ 1.98945743e-02 -3.38886604e-04 9.99802026e-01 1.21656918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.37, Y:3.71, Z:1.22 [[ 9.92507073e-01 -1.20573830e-01 -1.97904426e-02 2.38366962e+02] [ 1.20556697e-01 9.92704304e-01 -2.06089966e-03 3.71241428e+00] [ 1.98945481e-02 -3.40412890e-04 9.99802026e-01 1.21752524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.43, Y:3.71, Z:1.22 [[ 9.93180973e-01 -1.14890835e-01 -1.97901765e-02 2.38425544e+02] [ 1.14872522e-01 9.93378098e-01 -2.06345189e-03 3.71295356e+00] [ 1.98961996e-02 -2.23966329e-04 9.99802026e-01 1.21864464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.48, Y:3.72, Z:1.22 [[ 9.94189045e-01 -1.05813543e-01 -1.97898371e-02 2.38483507e+02] [ 1.05793365e-01 9.94385988e-01 -2.06670105e-03 3.71524199e+00] [ 1.98974217e-02 -3.89419265e-05 9.99802026e-01 1.21990889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.54, Y:3.72, Z:1.22 [[ 9.94703715e-01 -1.00860787e-01 -1.97894194e-02 2.38542293e+02] [ 1.00839549e-01 9.94900547e-01 -2.07069292e-03 3.71877336e+00] [ 1.98973559e-02 6.41698060e-05 9.99802026e-01 1.22447475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.60, Y:3.73, Z:1.22 [[ 9.94839042e-01 -9.95171911e-02 -1.97891363e-02 2.38600149e+02] [ 9.94956338e-02 9.95035838e-01 -2.07339556e-03 3.72636520e+00] [ 1.98972383e-02 9.37621916e-05 9.99802026e-01 1.22413500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.66, Y:3.73, Z:1.22 [[ 9.94899971e-01 -9.89062946e-02 -1.97887143e-02 2.38658940e+02] [ 9.88845366e-02 9.95096745e-01 -2.07741507e-03 3.73002354e+00] [ 1.98971546e-02 1.10022346e-04 9.99802026e-01 1.22372646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.72, Y:3.74, Z:1.23 [[ 9.94893600e-01 -9.89704160e-02 -1.97884307e-02 2.38717694e+02] [ 9.89486170e-02 9.95090370e-01 -2.08011273e-03 3.73781224e+00] [ 1.98971465e-02 1.11452993e-04 9.99802026e-01 1.22525650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.78, Y:3.74, Z:1.24 [[ 9.94758203e-01 -1.00322217e-01 -1.97881468e-02 2.38776109e+02] [ 1.00300631e-01 9.94954997e-01 -2.08281036e-03 3.74239874e+00] [ 1.98972677e-02 8.71290764e-05 9.99802026e-01 1.24341522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.84, Y:3.75, Z:1.23 [[ 9.94765113e-01 -1.00253729e-01 -1.97878617e-02 2.38835382e+02] [ 1.00232076e-01 9.94961900e-01 -2.08551500e-03 3.75188456e+00] [ 1.98972492e-02 9.12190951e-05 9.99802026e-01 1.22864877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.89, Y:3.76, Z:1.23 [[ 9.94494564e-01 -1.02902904e-01 -1.97877174e-02 2.38893080e+02] [ 1.02881748e-01 9.94691405e-01 -2.08688395e-03 3.75803897e+00] [ 1.98974188e-02 3.95997902e-05 9.99802026e-01 1.23140695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.95, Y:3.76, Z:1.23 [[ 9.94202160e-01 -1.05690718e-01 -1.97872871e-02 2.38952069e+02] [ 1.05670033e-01 9.94399051e-01 -2.09095582e-03 3.76395720e+00] [ 1.98974541e-02 -1.20904831e-05 9.99802026e-01 1.23301945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.01, Y:3.77, Z:1.23 [[ 9.93657896e-01 -1.10690831e-01 -1.97870026e-02 2.39010207e+02] [ 1.10671083e-01 9.93854883e-01 -2.09364466e-03 3.76539519e+00] [ 1.98971564e-02 -1.09482465e-04 9.99802026e-01 1.23449026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.07, Y:3.77, Z:1.24 [[ 9.93393060e-01 -1.13043003e-01 -1.97865779e-02 2.39068532e+02] [ 1.13023642e-01 9.93590085e-01 -2.09765018e-03 3.77250781e+00] [ 1.98968723e-02 -1.52559974e-04 9.99802026e-01 1.23756679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.13, Y:3.77, Z:1.24 [[ 9.93315650e-01 -1.13721246e-01 -1.97862974e-02 2.39126742e+02] [ 1.13701967e-01 9.93512683e-01 -2.10029303e-03 3.77322485e+00] [ 1.98967854e-02 -1.63486987e-04 9.99802026e-01 1.23676034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.19, Y:3.77, Z:1.24 [[ 9.93351142e-01 -1.13410882e-01 -1.97858744e-02 2.39185445e+02] [ 1.13391462e-01 9.93548161e-01 -2.10427082e-03 3.77322324e+00] [ 1.98968663e-02 -1.53269393e-04 9.99802026e-01 1.23782248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.24, Y:3.77, Z:1.24 [[ 9.93325013e-01 -1.13639554e-01 -1.97855927e-02 2.39244849e+02] [ 1.13620127e-01 9.93522032e-01 -2.10691566e-03 3.77306124e+00] [ 1.98968512e-02 -1.55189532e-04 9.99802026e-01 1.24020569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.30, Y:3.77, Z:1.24 [[ 9.93318943e-01 -1.13692778e-01 -1.97845949e-02 2.39303432e+02] [ 1.13673175e-01 9.93515944e-01 -2.11624448e-03 3.77220779e+00] [ 1.98969122e-02 -1.46871993e-04 9.99802026e-01 1.24185354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.36, Y:3.77, Z:1.24 [[ 9.93364850e-01 -1.13291168e-01 -1.97834540e-02 2.39363090e+02] [ 1.13271275e-01 9.93561822e-01 -2.12685660e-03 3.77216773e+00] [ 1.98970387e-02 -1.28152470e-04 9.99802026e-01 1.24289584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.42, Y:3.77, Z:1.25 [[ 9.93322101e-01 -1.13665474e-01 -1.97829001e-02 2.39422590e+02] [ 1.13645552e-01 9.93519070e-01 -2.13199610e-03 3.77295653e+00] [ 1.98970229e-02 -1.30479762e-04 9.99802026e-01 1.24580620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.48, Y:3.77, Z:1.25 [[ 9.93507643e-01 -1.12032319e-01 -1.97818768e-02 2.39481104e+02] [ 1.12011886e-01 9.93704560e-01 -2.14144925e-03 3.77221731e+00] [ 1.98972527e-02 -8.82591201e-05 9.99802026e-01 1.24772686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.54, Y:3.78, Z:1.25 [[ 9.93908502e-01 -1.08418695e-01 -1.97806927e-02 2.39540092e+02] [ 1.08397329e-01 9.94105320e-01 -2.15233096e-03 3.77759632e+00] [ 1.98974448e-02 -4.95420867e-06 9.99802026e-01 1.24946667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.60, Y:3.78, Z:1.25 [[ 9.94432972e-01 -1.03497971e-01 -1.97796483e-02 2.39598952e+02] [ 1.03475441e-01 9.94629659e-01 -2.16188683e-03 3.77793569e+00] [ 1.98971758e-02 1.03143705e-04 9.99802026e-01 1.25278084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.66, Y:3.79, Z:1.25 [[ 9.94641186e-01 -1.01477671e-01 -1.97786089e-02 2.39657327e+02] [ 1.01454553e-01 9.94837805e-01 -2.17135495e-03 3.78710712e+00] [ 1.98968519e-02 1.53089134e-04 9.99802026e-01 1.25135415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.72, Y:3.79, Z:1.25 [[ 9.94678515e-01 -1.01111325e-01 -1.97775757e-02 2.39716398e+02] [ 1.01087949e-01 9.94875103e-01 -2.18072468e-03 3.78846037e+00] [ 1.98967137e-02 1.69845426e-04 9.99802026e-01 1.25244049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.77, Y:3.79, Z:1.26 [[ 9.94786413e-01 -1.00044396e-01 -1.97765400e-02 2.39773639e+02] [ 1.00020623e-01 9.94982954e-01 -2.19007774e-03 3.79375286e+00] [ 1.98964252e-02 2.00597741e-04 9.99802026e-01 1.25779596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.83, Y:3.80, Z:1.25 [[ 9.94938963e-01 -9.85159618e-02 -1.97753542e-02 2.39832368e+02] [ 9.84916748e-02 9.95135441e-01 -2.20073275e-03 3.80118754e+00] [ 1.98959631e-02 2.41887000e-04 9.99802026e-01 1.25468792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.89, Y:3.81, Z:1.26 [[ 9.94846811e-01 -9.94424408e-02 -1.97743263e-02 2.39890981e+02] [ 9.94181540e-02 9.95043289e-01 -2.20993059e-03 3.80549183e+00] [ 1.98960716e-02 2.32615384e-04 9.99802027e-01 1.25625976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.95, Y:3.81, Z:1.26 [[ 9.94663848e-01 -1.01256343e-01 -1.97732923e-02 2.39948952e+02] [ 1.01232232e-01 9.94860347e-01 -2.21914341e-03 3.80939135e+00] [ 1.98963668e-02 2.05607212e-04 9.99802027e-01 1.25915484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.01, Y:3.82, Z:1.26 [[ 9.94783446e-01 -1.00074770e-01 -1.97721145e-02 2.40006069e+02] [ 1.00050217e-01 9.94979891e-01 -2.22958895e-03 3.81930397e+00] [ 1.98959819e-02 2.39753838e-04 9.99802027e-01 1.25978639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:240.06, Y:3.83, Z:1.26 [[ 9.95025814e-01 -9.76357538e-02 -1.97709269e-02 2.40064523e+02] [ 9.76105115e-02 9.95222171e-01 -2.24006996e-03 3.82776382e+00] [ 1.98951758e-02 2.99077146e-04 9.99802027e-01 1.26126040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.12, Y:3.84, Z:1.26 [[ 9.95282543e-01 -9.49832214e-02 -1.97698749e-02 2.40121528e+02] [ 9.49572722e-02 9.95478808e-01 -2.24931655e-03 3.83653704e+00] [ 1.98941388e-02 3.61412100e-04 9.99802027e-01 1.26245506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.18, Y:3.85, Z:1.26 [[ 9.95496146e-01 -9.27179681e-02 -1.97686800e-02 2.40177676e+02] [ 9.26913648e-02 9.95692324e-01 -2.25976991e-03 3.85312115e+00] [ 1.98930442e-02 4.17206310e-04 9.99802027e-01 1.26492884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.24, Y:3.87, Z:1.27 [[ 9.95635168e-01 -9.12132583e-02 -1.97674856e-02 2.40235385e+02] [ 9.11861521e-02 9.95831277e-01 -2.27017014e-03 3.86504127e+00] [ 1.98921500e-02 4.57740277e-04 9.99802027e-01 1.26648549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.29, Y:3.88, Z:1.27 [[ 9.95638504e-01 -9.11770607e-02 -1.97664478e-02 2.40293065e+02] [ 9.11497689e-02 9.95834587e-01 -2.27917008e-03 3.88128091e+00] [ 1.98919205e-02 4.67522339e-04 9.99802027e-01 1.26779801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.35, Y:3.90, Z:1.28 [[ 9.95380108e-01 -9.39562168e-02 -1.97653960e-02 2.40349795e+02] [ 9.39292921e-02 9.95576241e-01 -2.28825610e-03 3.89623415e+00] [ 1.98929545e-02 4.21134957e-04 9.99802027e-01 1.28252011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.41, Y:3.91, Z:1.27 [[ 9.95454383e-01 -9.31660804e-02 -1.97649459e-02 2.40407717e+02] [ 9.31389230e-02 9.95650484e-01 -2.29213722e-03 3.90750136e+00] [ 1.98925274e-02 4.40832271e-04 9.99802027e-01 1.26824924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.46, Y:3.92, Z:1.27 [[ 9.95253815e-01 -9.52848482e-02 -1.97646430e-02 2.40464857e+02] [ 9.52580565e-02 9.95449967e-01 -2.29474596e-03 3.92468069e+00] [ 1.98933677e-02 4.01113195e-04 9.99802027e-01 1.27048815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.52, Y:3.94, Z:1.27 [[ 9.94878218e-01 -9.91297254e-02 -1.97643423e-02 2.40522624e+02] [ 9.91036404e-02 9.95074465e-01 -2.29733309e-03 3.93765259e+00] [ 1.98947263e-02 3.26848379e-04 9.99802027e-01 1.27459397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:240.58, Y:3.95, Z:1.29 [[ 9.94236348e-01 -1.05372989e-01 -1.97640369e-02 2.40580358e+02] [ 1.05348084e-01 9.94432749e-01 -2.29995701e-03 3.94633969e+00] [ 1.98963589e-02 2.04597442e-04 9.99802027e-01 1.28760248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.64, Y:3.96, Z:1.27 [[ 9.93910871e-01 -1.08400071e-01 -1.97637251e-02 2.40638514e+02] [ 1.08375711e-01 9.94107340e-01 -2.30263308e-03 3.95715496e+00] [ 1.98968698e-02 1.46704291e-04 9.99802027e-01 1.27417640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.70, Y:3.96, Z:1.28 [[ 9.93633343e-01 -1.10915222e-01 -1.97634092e-02 2.40697313e+02] [ 1.10891306e-01 9.93829867e-01 -2.30534144e-03 3.96283686e+00] [ 1.98971638e-02 9.90738647e-05 9.99802027e-01 1.27675748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.76, Y:3.97, Z:1.28 [[ 9.93422274e-01 -1.12790094e-01 -1.97630956e-02 2.40755480e+02] [ 1.12766495e-01 9.93618836e-01 -2.30802651e-03 3.96780720e+00] [ 1.98973066e-02 6.42299151e-05 9.99802027e-01 1.27615306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.81, Y:3.97, Z:1.28 [[ 9.93005622e-01 -1.16401331e-01 -1.97627006e-02 2.40813666e+02] [ 1.16378379e-01 9.93202260e-01 -2.31140416e-03 3.97323468e+00] [ 1.98974094e-02 -4.71374396e-06 9.99802027e-01 1.27526979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:3.98, Z:1.28 [[ 9.92936698e-01 -1.16987870e-01 -1.97623834e-02 2.40872326e+02] [ 1.16964981e-01 9.93133344e-01 -2.31411291e-03 3.97737924e+00] [ 1.98974050e-02 -1.37391722e-05 9.99802027e-01 1.27878384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96232058799998 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:3.98, Z:1.28 [[ 9.93312011e-01 -1.13757241e-01 -1.97620686e-02 2.40931563e+02] [ 1.13733659e-01 9.93508574e-01 -2.31679784e-03 3.98038037e+00] [ 1.98973372e-02 5.36907334e-05 9.99802027e-01 1.27765064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02232058799999 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:240.99, Y:3.99, Z:1.28 [[ 9.93641799e-01 -1.10839743e-01 -1.97617527e-02 2.40989703e+02] [ 1.10815530e-01 9.93838286e-01 -2.31948971e-03 3.98603237e+00] [ 1.98970781e-02 1.14832825e-04 9.99802027e-01 1.27931081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:4.00, Z:1.28 [[ 9.94038496e-01 -1.07223849e-01 -1.97614404e-02 2.41047311e+02] [ 1.07198869e-01 9.94234887e-01 -2.32214748e-03 3.99669731e+00] [ 1.98965030e-02 1.89899935e-04 9.99802027e-01 1.27988642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:241.11, Y:4.00, Z:1.28 [[ 9.94622857e-01 -1.01660566e-01 -1.97611283e-02 2.41105206e+02] [ 1.01634434e-01 9.94819098e-01 -2.32480000e-03 4.00480174e+00] [ 1.98950883e-02 3.03888114e-04 9.99802027e-01 1.28034040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202320588 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:4.02, Z:1.29 [[ 9.94921722e-01 -9.86928413e-02 -1.97608142e-02 2.41162052e+02] [ 9.86660717e-02 9.95117877e-01 -2.32746665e-03 4.01984727e+00] [ 1.98940438e-02 3.65925213e-04 9.99802027e-01 1.29477768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262320588 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:4.04, Z:1.28 [[ 9.95481720e-01 -9.28744713e-02 -1.97605048e-02 2.41219940e+02] [ 9.28465034e-02 9.95677708e-01 -2.33009060e-03 4.03648447e+00] [ 1.98915001e-02 4.84868825e-04 9.99802027e-01 1.28299260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:4.05, Z:1.29 [[ 9.95551475e-01 -9.21239461e-02 -1.97595122e-02 2.41276872e+02] [ 9.20956641e-02 9.95747418e-01 -2.33847788e-03 4.05171651e+00] [ 1.98909131e-02 5.08309701e-04 9.99802027e-01 1.28557640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:4.07, Z:1.29 [[ 9.95341763e-01 -9.43628558e-02 -1.97592074e-02 2.41334138e+02] [ 9.43349635e-02 9.95537761e-01 -2.34105099e-03 4.06548203e+00] [ 1.98919453e-02 4.66161713e-04 9.99802027e-01 1.28725061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442320588 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:241.39, Y:4.08, Z:1.30 [[ 9.95055593e-01 -9.73342284e-02 -1.97588980e-02 2.41390597e+02] [ 9.73068697e-02 9.95251667e-01 -2.34365897e-03 4.08212674e+00] [ 1.98931944e-02 4.09394453e-04 9.99802027e-01 1.30177365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502320588 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:241.45, Y:4.10, Z:1.30 [[ 9.95047289e-01 -9.74191698e-02 -1.97585088e-02 2.41447963e+02] [ 9.73917627e-02 9.95243355e-01 -2.34693587e-03 4.09871403e+00] [ 1.98931611e-02 4.10996174e-04 9.99802027e-01 1.30034456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:241.51, Y:4.11, Z:1.29 [[ 9.94954589e-01 -9.83614777e-02 -1.97581968e-02 2.41506248e+02] [ 9.83342043e-02 9.95150674e-01 -2.34955902e-03 4.11292819e+00] [ 1.98934890e-02 3.94797963e-04 9.99802027e-01 1.29032597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:241.56, Y:4.12, Z:1.29 [[ 9.94513121e-01 -1.02729136e-01 -1.97579629e-02 2.41564355e+02] [ 1.02702685e-01 9.94709319e-01 -2.35152435e-03 4.12261024e+00] [ 1.98949999e-02 3.09425967e-04 9.99802027e-01 1.29229636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68232058799998 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:4.13, Z:1.29 [[ 9.93777168e-01 -1.09620143e-01 -1.97576458e-02 2.41621299e+02] [ 1.09594999e-01 9.93973538e-01 -2.35418583e-03 4.13437692e+00] [ 1.98966433e-02 1.74196948e-04 9.99802027e-01 1.29237484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74232058799998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:4.14, Z:1.29 [[ 9.93356650e-01 -1.13367630e-01 -1.97571700e-02 2.41679114e+02] [ 1.13343148e-01 9.93553104e-01 -2.35817196e-03 4.14306183e+00] [ 1.98971380e-02 1.03165952e-04 9.99802027e-01 1.29367170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802320588 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:241.74, Y:4.16, Z:1.30 [[ 9.93343797e-01 -1.13480254e-01 -1.97568534e-02 2.41736046e+02] [ 1.13455742e-01 9.93540246e-01 -2.36082180e-03 4.15745063e+00] [ 1.98971357e-02 1.03579236e-04 9.99802027e-01 1.29787097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862320588 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:241.79, Y:4.16, Z:1.30 [[ 9.93169420e-01 -1.14996471e-01 -1.97563804e-02 2.41794371e+02] [ 1.14972180e-01 9.93365897e-01 -2.36477343e-03 4.16363408e+00] [ 1.98972551e-02 7.71865362e-05 9.99802027e-01 1.29610547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922320588 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:241.85, Y:4.17, Z:1.32 [[ 9.93012173e-01 -1.16346564e-01 -1.97560645e-02 2.41852478e+02] [ 1.16322487e-01 9.93208676e-01 -2.36740967e-03 4.17099561e+00] [ 1.98973346e-02 5.27920593e-05 9.99802027e-01 1.31534030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:241.91, Y:4.18, Z:1.30 [[ 9.92514242e-01 -1.20520494e-01 -1.97557479e-02 2.41911161e+02] [ 1.20497191e-01 9.92710839e-01 -2.37004844e-03 4.17567285e+00] [ 1.98973845e-02 -2.82052982e-05 9.99802027e-01 1.30130148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042320588 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:241.97, Y:4.18, Z:1.30 [[ 9.92665876e-01 -1.19265177e-01 -1.97554275e-02 2.41969197e+02] [ 1.19241573e-01 9.92862436e-01 -2.37271649e-03 4.18360685e+00] [ 1.98974043e-02 -3.53549161e-07 9.99802027e-01 1.30172702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102320588 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:4.19, Z:1.30 [[ 9.92508010e-01 -1.20571913e-01 -1.97551121e-02 2.42028325e+02] [ 1.20548515e-01 9.92704595e-01 -2.37533923e-03 4.18707735e+00] [ 1.98973898e-02 -2.39062236e-05 9.99802027e-01 1.30048929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162320588 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:242.09, Y:4.19, Z:1.30 [[ 9.92378726e-01 -1.21631465e-01 -1.97547939e-02 2.42087402e+02] [ 1.21608225e-01 9.92575330e-01 -2.37798254e-03 4.19137202e+00] [ 1.98973586e-02 -4.24861387e-05 9.99802027e-01 1.30263250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:242.15, Y:4.20, Z:1.30 [[ 9.92773554e-01 -1.18365665e-01 -1.97544779e-02 2.42145805e+02] [ 1.18341726e-01 9.92970074e-01 -2.38060520e-03 4.20005381e+00] [ 1.98973873e-02 2.56228794e-05 9.99802027e-01 1.30489764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:242.20, Y:4.21, Z:1.31 [[ 9.93708345e-01 -1.10242906e-01 -1.97541612e-02 2.42203333e+02] [ 1.10217308e-01 9.93904656e-01 -2.38322986e-03 4.21010675e+00] [ 1.98964870e-02 1.90984935e-04 9.99802027e-01 1.30712509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:242.26, Y:4.22, Z:1.31 [[ 9.94040336e-01 -1.07208190e-01 -1.97538434e-02 2.42260969e+02] [ 1.07181940e-01 9.94236561e-01 -2.38586117e-03 4.22123082e+00] [ 1.98957772e-02 2.54386974e-04 9.99802027e-01 1.30925471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.32, Y:4.23, Z:1.31 [[ 9.93886162e-01 -1.08628242e-01 -1.97535277e-02 2.42318870e+02] [ 1.08602221e-01 9.94082417e-01 -2.38847250e-03 4.22807855e+00] [ 1.98960901e-02 2.28592786e-04 9.99802027e-01 1.31114074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:4.24, Z:1.31 [[ 9.93700084e-01 -1.10317511e-01 -1.97532099e-02 2.42376944e+02] [ 1.10291771e-01 9.93896377e-01 -2.39109754e-03 4.23592471e+00] [ 1.98964237e-02 1.97417319e-04 9.99802027e-01 1.31299748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:4.24, Z:1.31 [[ 9.93448372e-01 -1.12561781e-01 -1.97528916e-02 2.42435924e+02] [ 1.12536433e-01 9.93644716e-01 -2.39372459e-03 4.24231491e+00] [ 1.98967982e-02 1.55121844e-04 9.99802027e-01 1.31316454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.49, Y:4.25, Z:1.32 [[ 9.93642398e-01 -1.10836013e-01 -1.97525718e-02 2.42494875e+02] [ 1.10810271e-01 9.93838690e-01 -2.39636037e-03 4.24937656e+00] [ 1.98964731e-02 1.92337420e-04 9.99802027e-01 1.32439643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.55, Y:4.25, Z:1.32 [[ 9.93889619e-01 -1.08596809e-01 -1.97524121e-02 2.42553779e+02] [ 1.08570599e-01 9.94085850e-01 -2.39767582e-03 4.25390233e+00] [ 1.98959733e-02 2.38493894e-04 9.99802027e-01 1.31581828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:4.26, Z:1.32 [[ 9.94405332e-01 -1.03768443e-01 -1.97520926e-02 2.42612340e+02] [ 1.03741228e-01 9.94601426e-01 -2.40030482e-03 4.26079488e+00] [ 1.98945354e-02 3.37769574e-04 9.99802027e-01 1.31776182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:4.27, Z:1.32 [[ 9.94541901e-01 -1.02451332e-01 -1.97517711e-02 2.42670835e+02] [ 1.02423805e-01 9.94737950e-01 -2.40294772e-03 4.26719838e+00] [ 1.98940215e-02 3.66780640e-04 9.99802027e-01 1.31914628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.73, Y:4.27, Z:1.32 [[ 9.94748051e-01 -1.00430048e-01 -1.97514501e-02 2.42728919e+02] [ 1.00402070e-01 9.94944037e-01 -2.40558334e-03 4.27271797e+00] [ 1.98931804e-02 4.09862872e-04 9.99802027e-01 1.32131909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.79, Y:4.28, Z:1.32 [[ 9.94773223e-01 -1.00180492e-01 -1.97510493e-02 2.42786927e+02] [ 1.00152400e-01 9.94969193e-01 -2.40886990e-03 4.27994759e+00] [ 1.98930073e-02 4.18164288e-04 9.99802027e-01 1.32104153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.85, Y:4.28, Z:1.32 [[ 9.94844993e-01 -9.94653163e-02 -1.97507277e-02 2.42845889e+02] [ 9.94370310e-02 9.95040935e-01 -2.41150335e-03 4.28409744e+00] [ 1.98926435e-02 4.35118311e-04 9.99802027e-01 1.32411082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.90, Y:4.29, Z:1.33 [[ 9.94991411e-01 -9.79898691e-02 -1.97504053e-02 2.42904346e+02] [ 9.79612409e-02 9.95187303e-01 -2.41414141e-03 4.28974662e+00] [ 1.98919140e-02 4.67275757e-04 9.99802027e-01 1.33147741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.96, Y:4.30, Z:1.33 [[ 9.94995746e-01 -9.79459009e-02 -1.97500825e-02 2.42962868e+02] [ 9.79172117e-02 9.95191629e-01 -2.41677942e-03 4.29768081e+00] [ 1.98918304e-02 4.70812239e-04 9.99802027e-01 1.32686865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:4.30, Z:1.33 [[ 9.94868783e-01 -9.92272732e-02 -1.97497579e-02 2.43021685e+02] [ 9.91987837e-02 9.95064695e-01 -2.41942882e-03 4.30231513e+00] [ 1.98923602e-02 4.47862245e-04 9.99802027e-01 1.32689431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.08, Y:4.31, Z:1.33 [[ 9.94736509e-01 -1.00544705e-01 -1.97494339e-02 2.43080219e+02] [ 1.00516423e-01 9.94932451e-01 -2.42207091e-03 4.31057870e+00] [ 1.98928791e-02 4.24179915e-04 9.99802027e-01 1.32875149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:4.32, Z:1.33 [[ 9.94674309e-01 -1.01158252e-01 -1.97491109e-02 2.43138274e+02] [ 1.01130038e-01 9.94870261e-01 -2.42470208e-03 4.31860050e+00] [ 1.98930817e-02 4.14560536e-04 9.99802027e-01 1.32878869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:4.33, Z:1.33 [[ 9.94607243e-01 -1.01815607e-01 -1.97487869e-02 2.43196350e+02] [ 1.01787470e-01 9.94803206e-01 -2.42733785e-03 4.32771573e+00] [ 1.98932974e-02 4.04068751e-04 9.99802027e-01 1.33124879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.25, Y:4.34, Z:1.33 [[ 9.94714161e-01 -1.00765745e-01 -1.97484632e-02 2.43254490e+02] [ 1.00737349e-01 9.94910087e-01 -2.42996843e-03 4.33663517e+00] [ 1.98928028e-02 4.27716173e-04 9.99802027e-01 1.33230171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.31, Y:4.34, Z:1.33 [[ 9.94239031e-01 -1.05350654e-01 -1.97481378e-02 2.43312345e+02] [ 1.05323109e-01 9.94435078e-01 -2.43261034e-03 4.34443815e+00] [ 1.98945180e-02 3.38660873e-04 9.99802027e-01 1.33290684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:4.35, Z:1.33 [[ 9.93764927e-01 -1.09732825e-01 -1.97478111e-02 2.43370430e+02] [ 1.09706093e-01 9.93961087e-01 -2.43525948e-03 4.35022506e+00] [ 1.98957837e-02 2.53620266e-04 9.99802027e-01 1.33308420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:4.36, Z:1.34 [[ 9.93390229e-01 -1.13074713e-01 -1.97474874e-02 2.43429445e+02] [ 1.13048588e-01 9.93586470e-01 -2.43788121e-03 4.35899637e+00] [ 1.98964990e-02 1.89341806e-04 9.99802027e-01 1.34381607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.49, Y:4.36, Z:1.35 [[ 9.92909697e-01 -1.17219354e-01 -1.97473242e-02 2.43488398e+02] [ 1.17194022e-01 9.93106042e-01 -2.43920226e-03 4.36067691e+00] [ 1.98971087e-02 1.07639227e-04 9.99802027e-01 1.35032314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:4.36, Z:1.34 [[ 9.92589938e-01 -1.19896917e-01 -1.97469914e-02 2.43547601e+02] [ 1.19872062e-01 9.92786345e-01 -2.44189428e-03 4.36325756e+00] [ 1.98973190e-02 5.66871268e-05 9.99802027e-01 1.33712238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.61, Y:4.37, Z:1.35 [[ 9.92829238e-01 -1.17898998e-01 -1.97466609e-02 2.43606298e+02] [ 1.17873694e-01 9.93025587e-01 -2.44456326e-03 4.36900380e+00] [ 1.98971511e-02 9.94220170e-05 9.99802027e-01 1.35418343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.67, Y:4.37, Z:1.34 [[ 9.92569466e-01 -1.20066391e-01 -1.97463339e-02 2.43665463e+02] [ 1.20041463e-01 9.92765863e-01 -2.44720188e-03 4.37047379e+00] [ 1.98973129e-02 5.86390513e-05 9.99802027e-01 1.34032420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:4.37, Z:1.36 [[ 9.92422831e-01 -1.21272504e-01 -1.97460031e-02 2.43724354e+02] [ 1.21247762e-01 9.92619251e-01 -2.44986866e-03 4.37403769e+00] [ 1.98973645e-02 3.71469040e-05 9.99802027e-01 1.35632439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.78, Y:4.37, Z:1.34 [[ 9.91903947e-01 -1.25445876e-01 -1.97456722e-02 2.43784571e+02] [ 1.25421907e-01 9.92100464e-01 -2.45253276e-03 4.37290431e+00] [ 1.98973506e-02 -4.38629371e-05 9.99802027e-01 1.34071611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.84, Y:4.38, Z:1.34 [[ 9.91986491e-01 -1.24791507e-01 -1.97454225e-02 2.43843686e+02] [ 1.24767368e-01 9.92182987e-01 -2.45454104e-03 4.37597125e+00] [ 1.98973782e-02 -2.87128500e-05 9.99802027e-01 1.34220741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:4.38, Z:1.36 [[ 9.92721504e-01 -1.18802975e-01 -1.97450982e-02 2.43903213e+02] [ 1.18777599e-01 9.92917844e-01 -2.45714720e-03 4.38075586e+00] [ 1.98971767e-02 9.39875047e-05 9.99802027e-01 1.35734633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:4.38, Z:1.35 [[ 9.93122341e-01 -1.15404307e-01 -1.97449347e-02 2.43962414e+02] [ 1.15378233e-01 9.93318589e-01 -2.45846010e-03 4.38496231e+00] [ 1.98967276e-02 1.63415957e-04 9.99802027e-01 1.34605119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:4.39, Z:1.35 [[ 9.93328250e-01 -1.13618393e-01 -1.97446006e-02 2.44021199e+02] [ 1.13591913e-01 9.93524444e-01 -2.46114051e-03 4.38570101e+00] [ 1.98963742e-02 2.01893428e-04 9.99802027e-01 1.34710401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:244.08, Y:4.39, Z:1.36 [[ 9.93591994e-01 -1.11288456e-01 -1.97441050e-02 2.44079749e+02] [ 1.11261437e-01 9.93788114e-01 -2.46510990e-03 4.39112707e+00] [ 1.98957952e-02 2.52555959e-04 9.99802027e-01 1.36265292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.14, Y:4.39, Z:1.36 [[ 9.93917298e-01 -1.08344763e-01 -1.97437726e-02 2.44139190e+02] [ 1.08317111e-01 9.94113330e-01 -2.46776952e-03 4.39195353e+00] [ 1.98949174e-02 3.14170400e-04 9.99802027e-01 1.36440115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:4.40, Z:1.35 [[ 9.94239363e-01 -1.05348403e-01 -1.97434364e-02 2.44198492e+02] [ 1.05320107e-01 9.94435303e-01 -2.47045674e-03 4.39830059e+00] [ 1.98938288e-02 3.76844507e-04 9.99802027e-01 1.34802118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.26, Y:4.40, Z:1.35 [[ 9.94794919e-01 -9.99664372e-02 -1.97428857e-02 2.44257127e+02] [ 9.99369938e-02 9.94990690e-01 -2.47484999e-03 4.40382091e+00] [ 1.98913893e-02 4.88923558e-04 9.99802027e-01 1.34979840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:4.41, Z:1.35 [[ 9.95203266e-01 -9.58159164e-02 -1.97425632e-02 2.44314866e+02] [ 9.57856057e-02 9.95398905e-01 -2.47741944e-03 4.41434642e+00] [ 1.98891020e-02 5.74482545e-04 9.99802027e-01 1.35167622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.37, Y:4.42, Z:1.37 [[ 9.95547860e-01 -9.21667050e-02 -1.97422413e-02 2.44372489e+02] [ 9.21356265e-02 9.95743379e-01 -2.47998248e-03 4.42447009e+00] [ 1.98867778e-02 6.49977483e-04 9.99802027e-01 1.37096029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.43, Y:4.44, Z:1.36 [[ 9.96020928e-01 -8.69055034e-02 -1.97419235e-02 2.44430741e+02] [ 8.68733423e-02 9.96216271e-01 -2.48250981e-03 4.43835571e+00] [ 1.98829691e-02 7.57584855e-04 9.99802027e-01 1.35562845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.49, Y:4.45, Z:1.36 [[ 9.96474931e-01 -8.15351271e-02 -1.97416826e-02 2.44488411e+02] [ 8.15018756e-02 9.96670092e-01 -2.48442355e-03 4.45261201e+00] [ 1.98785124e-02 8.66681629e-04 9.99802027e-01 1.35528783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:4.46, Z:1.36 [[ 9.96619491e-01 -7.97487857e-02 -1.97413714e-02 2.44545280e+02] [ 7.97151356e-02 9.96814583e-01 -2.48689415e-03 4.46312966e+00] [ 1.98768137e-02 9.04801081e-04 9.99802027e-01 1.35572082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:4.48, Z:1.36 [[ 9.96819424e-01 -7.72096612e-02 -1.97409042e-02 2.44601965e+02] [ 7.71754410e-02 9.97014417e-01 -2.49059750e-03 4.48068197e+00] [ 1.98742642e-02 9.59162980e-04 9.99802027e-01 1.35784623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:4.50, Z:1.36 [[ 9.96748907e-01 -7.81148180e-02 -1.97405958e-02 2.44659067e+02] [ 7.80807267e-02 9.96943923e-01 -2.49303882e-03 4.49693142e+00] [ 1.98750103e-02 9.43573653e-04 9.99802027e-01 1.35884661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:4.51, Z:1.36 [[ 9.96270447e-01 -8.39971330e-02 -1.97402863e-02 2.44716270e+02] [ 8.39641450e-02 9.96465652e-01 -2.49548767e-03 4.51191696e+00] [ 1.98801310e-02 8.28704360e-04 9.99802027e-01 1.36052520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.77, Y:4.52, Z:1.36 [[ 9.95536041e-01 -9.22947747e-02 -1.97399742e-02 2.44774445e+02] [ 9.22633654e-02 9.95731506e-01 -2.49795401e-03 4.52276944e+00] [ 1.98862623e-02 6.65526799e-04 9.99802027e-01 1.36276688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.83, Y:4.54, Z:1.37 [[ 9.94820532e-01 -9.97118622e-02 -1.97396525e-02 2.44832523e+02] [ 9.96818602e-02 9.95016218e-01 -2.50049301e-03 4.53536929e+00] [ 1.98906032e-02 5.19856500e-04 9.99802027e-01 1.36516574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.89, Y:4.54, Z:1.36 [[ 9.94095251e-01 -1.06700476e-01 -1.97393227e-02 2.44891560e+02] [ 1.06671799e-01 9.94291135e-01 -2.50309436e-03 4.54056799e+00] [ 1.98937149e-02 3.82685163e-04 9.99802027e-01 1.36435808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.95, Y:4.55, Z:1.37 [[ 9.93685415e-01 -1.10452109e-01 -1.97389866e-02 2.44950307e+02] [ 1.10424119e-01 9.93881399e-01 -2.50574181e-03 4.54698333e+00] [ 1.98949761e-02 3.10258894e-04 9.99802027e-01 1.36507843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:4.55, Z:1.37 [[ 9.92856360e-01 -1.17671723e-01 -1.97386510e-02 2.45008686e+02] [ 1.17645105e-01 9.93052535e-01 -2.50838295e-03 4.55428094e+00] [ 1.98966831e-02 1.68308299e-04 9.99802027e-01 1.36578755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.07, Y:4.56, Z:1.37 [[ 9.92395832e-01 -1.21494495e-01 -1.97383124e-02 2.45067510e+02] [ 1.21468580e-01 9.92592101e-01 -2.51104446e-03 4.55642398e+00] [ 1.98971710e-02 9.43652786e-05 9.99802027e-01 1.36821758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:4.57, Z:1.37 [[ 9.92390813e-01 -1.21535533e-01 -1.97379744e-02 2.45125750e+02] [ 1.21509573e-01 9.92587077e-01 -2.51369857e-03 4.56518804e+00] [ 1.98971620e-02 9.62185230e-05 9.99802027e-01 1.36805148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342320588 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:245.18, Y:4.57, Z:1.39 [[ 9.93051299e-01 -1.16015269e-01 -1.97376369e-02 2.45184441e+02] [ 1.15988165e-01 9.93247408e-01 -2.51634584e-03 4.57275665e+00] [ 1.98962912e-02 2.09528214e-04 9.99802027e-01 1.39316514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.24, Y:4.58, Z:1.37 [[ 9.93270464e-01 -1.14123680e-01 -1.97375525e-02 2.45243729e+02] [ 1.14096190e-01 9.93466519e-01 -2.51700727e-03 4.58489780e+00] [ 1.98958477e-02 2.48089439e-04 9.99802027e-01 1.37183138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.30, Y:4.59, Z:1.37 [[ 9.93375444e-01 -1.13206275e-01 -1.97374496e-02 2.45301583e+02] [ 1.13178588e-01 9.93571471e-01 -2.51781387e-03 4.59445594e+00] [ 1.98955992e-02 2.67277796e-04 9.99802027e-01 1.37342767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.36, Y:4.60, Z:1.38 [[ 9.93505182e-01 -1.12062033e-01 -1.97371122e-02 2.45359770e+02] [ 1.12034068e-01 9.93701170e-01 -2.52045638e-03 4.60345156e+00] [ 1.98952389e-02 2.92857515e-04 9.99802027e-01 1.37553325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.42, Y:4.61, Z:1.38 [[ 9.93552416e-01 -1.11642538e-01 -1.97367717e-02 2.45417741e+02] [ 1.11614437e-01 9.93748384e-01 -2.52311979e-03 4.61205610e+00] [ 1.98950725e-02 3.03943114e-04 9.99802027e-01 1.37601697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.48, Y:4.62, Z:1.38 [[ 9.93412844e-01 -1.12877787e-01 -1.97364340e-02 2.45476241e+02] [ 1.12849878e-01 9.93608839e-01 -2.52575806e-03 4.62187588e+00] [ 1.98953973e-02 2.81866331e-04 9.99802027e-01 1.37792821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.53, Y:4.63, Z:1.38 [[ 9.93092964e-01 -1.15658343e-01 -1.97360955e-02 2.45534962e+02] [ 1.15630930e-01 9.93289029e-01 -2.52840095e-03 4.62942350e+00] [ 1.98960778e-02 2.28834119e-04 9.99802027e-01 1.38017095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:245.59, Y:4.64, Z:1.38 [[ 9.92892459e-01 -1.17367222e-01 -1.97357589e-02 2.45593322e+02] [ 1.17340094e-01 9.93088564e-01 -2.53102572e-03 4.63524582e+00] [ 1.98964159e-02 1.97240555e-04 9.99802027e-01 1.38092155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.65, Y:4.64, Z:1.38 [[ 9.92853348e-01 -1.17697673e-01 -1.97354181e-02 2.45651287e+02] [ 1.17670558e-01 9.93049455e-01 -2.53368000e-03 4.64236182e+00] [ 1.98964544e-02 1.93295016e-04 9.99802027e-01 1.38360852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:245.71, Y:4.65, Z:1.38 [[ 9.92997840e-01 -1.16472388e-01 -1.97350784e-02 2.45709830e+02] [ 1.16444978e-01 9.93193906e-01 -2.53632275e-03 4.64791010e+00] [ 1.98961712e-02 2.20512239e-04 9.99802027e-01 1.38484536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.77, Y:4.65, Z:1.38 [[ 9.93043750e-01 -1.16080363e-01 -1.97347414e-02 2.45768275e+02] [ 1.16052823e-01 9.93239798e-01 -2.53894279e-03 4.65320211e+00] [ 1.98960519e-02 2.31008820e-04 9.99802027e-01 1.38490787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.83, Y:4.66, Z:1.39 [[ 9.92818998e-01 -1.17987250e-01 -1.97344025e-02 2.45827061e+02] [ 1.17960035e-01 9.93015091e-01 -2.54157406e-03 4.65676856e+00] [ 1.98964328e-02 1.95452213e-04 9.99802027e-01 1.38861374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062320588 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:245.89, Y:4.66, Z:1.41 [[ 9.92824464e-01 -1.17941304e-01 -1.97340621e-02 2.45885606e+02] [ 1.17914028e-01 9.93020548e-01 -2.54421459e-03 4.66035350e+00] [ 1.98963971e-02 1.99035752e-04 9.99802027e-01 1.40608724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:245.94, Y:4.66, Z:1.40 [[ 9.92937372e-01 -1.16986988e-01 -1.97337190e-02 2.45944044e+02] [ 1.16959470e-01 9.93133423e-01 -2.54687286e-03 4.66440257e+00] [ 1.98961669e-02 2.20839921e-04 9.99802027e-01 1.40350153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.00, Y:4.67, Z:1.39 [[ 9.92859341e-01 -1.17647487e-01 -1.97331784e-02 2.46003648e+02] [ 1.17620016e-01 9.93055398e-01 -2.55105413e-03 4.66681082e+00] [ 1.98962645e-02 2.11821151e-04 9.99802027e-01 1.39189864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.06, Y:4.67, Z:1.39 [[ 9.92959625e-01 -1.16798108e-01 -1.97328332e-02 2.46062562e+02] [ 1.16770417e-01 9.93155652e-01 -2.55372176e-03 4.66979482e+00] [ 1.98960447e-02 2.31531447e-04 9.99802027e-01 1.39398283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.12, Y:4.68, Z:1.39 [[ 9.92827307e-01 -1.17917629e-01 -1.97324868e-02 2.46120674e+02] [ 1.17890106e-01 9.93023357e-01 -2.55639573e-03 4.67558354e+00] [ 1.98962644e-02 2.11794541e-04 9.99802027e-01 1.39353003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:246.18, Y:4.68, Z:1.40 [[ 9.92499347e-01 -1.20646960e-01 -1.97321403e-02 2.46178986e+02] [ 1.20619922e-01 9.92695465e-01 -2.55906753e-03 4.68080517e+00] [ 1.98967499e-02 1.59783622e-04 9.99802027e-01 1.39619542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.24, Y:4.68, Z:1.40 [[ 9.91546504e-01 -1.28242688e-01 -1.97317973e-02 2.46238307e+02] [ 1.28217100e-01 9.91742816e-01 -2.56170933e-03 4.68187410e+00] [ 1.98973887e-02 1.01001118e-05 9.99802027e-01 1.39847706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.30, Y:4.68, Z:1.40 [[ 9.90796901e-01 -1.33911054e-01 -1.97314497e-02 2.46297460e+02] [ 1.33886536e-01 9.90993350e-01 -2.56438368e-03 4.68242685e+00] [ 1.98971348e-02 -1.00992051e-04 9.99802027e-01 1.39876755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.36, Y:4.68, Z:1.40 [[ 9.90693088e-01 -1.34676982e-01 -1.97311069e-02 2.46356274e+02] [ 1.34652563e-01 9.90889549e-01 -2.56701866e-03 4.68371969e+00] [ 1.98970660e-02 -1.13716485e-04 9.99802027e-01 1.39956093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.41, Y:4.69, Z:1.40 [[ 9.91064544e-01 -1.31915759e-01 -1.97307648e-02 2.46414678e+02] [ 1.31890740e-01 9.91260929e-01 -2.56964532e-03 4.68777718e+00] [ 1.98973130e-02 -5.56208125e-05 9.99802027e-01 1.40150539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.47, Y:4.70, Z:1.40 [[ 9.92026506e-01 -1.24475412e-01 -1.97302493e-02 2.46472009e+02] [ 1.24448843e-01 9.92222688e-01 -2.57359794e-03 4.69689425e+00] [ 1.98971506e-02 9.76706839e-05 9.99802027e-01 1.40309488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.53, Y:4.70, Z:1.41 [[ 9.92076699e-01 -1.24074820e-01 -1.97297333e-02 2.46530686e+02] [ 1.24048093e-01 9.92272859e-01 -2.57754734e-03 4.70352395e+00] [ 1.98970876e-02 1.09688872e-04 9.99802027e-01 1.40512978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.59, Y:4.71, Z:1.41 [[ 9.91457638e-01 -1.28928286e-01 -1.97293857e-02 2.46589282e+02] [ 1.28902466e-01 9.91653920e-01 -2.58020502e-03 4.70871154e+00] [ 1.98973841e-02 1.49975000e-05 9.99802027e-01 1.40547634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.65, Y:4.71, Z:1.40 [[ 9.90762213e-01 -1.34167811e-01 -1.97290345e-02 2.46648686e+02] [ 1.34142976e-01 9.90958622e-01 -2.58288813e-03 4.71087549e+00] [ 1.98971973e-02 -8.74834320e-05 9.99802027e-01 1.40467935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:246.71, Y:4.72, Z:1.41 [[ 9.90453705e-01 -1.36426669e-01 -1.97286885e-02 2.46707069e+02] [ 1.36402229e-01 9.90650164e-01 -2.58552794e-03 4.71557616e+00] [ 1.98969635e-02 -1.30191365e-04 9.99802027e-01 1.40696783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.77, Y:4.72, Z:1.41 [[ 9.90225175e-01 -1.38075688e-01 -1.97283472e-02 2.46765956e+02] [ 1.38051523e-01 9.90421667e-01 -2.58812986e-03 4.71645561e+00] [ 1.98967403e-02 -1.60697030e-04 9.99802027e-01 1.40679160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.83, Y:4.72, Z:1.41 [[ 9.90105373e-01 -1.38932200e-01 -1.97280035e-02 2.46825033e+02] [ 1.38908153e-01 9.90301880e-01 -2.59074696e-03 4.71734145e+00] [ 1.98966171e-02 -1.75268036e-04 9.99802027e-01 1.40788072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:246.88, Y:4.72, Z:1.41 [[ 9.90583616e-01 -1.35480325e-01 -1.97276583e-02 2.46883887e+02] [ 1.35455541e-01 9.90780032e-01 -2.59337272e-03 4.72154763e+00] [ 1.98971209e-02 -1.03268099e-04 9.99802027e-01 1.41014419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.94, Y:4.73, Z:1.41 [[ 9.91150265e-01 -1.31270655e-01 -1.97273125e-02 2.46942165e+02] [ 1.31244985e-01 9.91346566e-01 -2.59600049e-03 4.72871524e+00] [ 1.98973822e-02 -1.60842590e-05 9.99802027e-01 1.41006418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.00, Y:4.74, Z:1.41 [[ 9.91465325e-01 -1.28869528e-01 -1.97269645e-02 2.47000213e+02] [ 1.28843329e-01 9.91661557e-01 -2.59864215e-03 4.73581559e+00] [ 1.98973581e-02 3.47757985e-05 9.99802027e-01 1.41329036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:247.06, Y:4.75, Z:1.43 [[ 9.92022206e-01 -1.24510255e-01 -1.97266144e-02 2.47057648e+02] [ 1.24483141e-01 9.92218313e-01 -2.60129684e-03 4.74816665e+00] [ 1.98969962e-02 1.24913293e-04 9.99802027e-01 1.42838427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.12, Y:4.76, Z:1.41 [[ 9.92081652e-01 -1.24035765e-01 -1.97262649e-02 2.47115862e+02] [ 1.24008504e-01 9.92277738e-01 -2.60394467e-03 4.75563363e+00] [ 1.98969158e-02 1.37101118e-04 9.99802027e-01 1.41408085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.17, Y:4.76, Z:1.42 [[ 9.92157836e-01 -1.23424941e-01 -1.97259086e-02 2.47174212e+02] [ 1.23397507e-01 9.92353899e-01 -2.60664083e-03 4.76328639e+00] [ 1.98968068e-02 1.52071189e-04 9.99802027e-01 1.41555831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.23, Y:4.78, Z:1.41 [[ 9.92801919e-01 -1.18132349e-01 -1.97255526e-02 2.47231469e+02] [ 1.18103816e-01 9.92997825e-01 -2.60933262e-03 4.77675426e+00] [ 1.98956774e-02 2.60887399e-04 9.99802027e-01 1.41484556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.29, Y:4.79, Z:1.42 [[ 9.93161393e-01 -1.15071125e-01 -1.97251985e-02 2.47288836e+02] [ 1.15041935e-01 9.93357202e-01 -2.61200612e-03 4.78925691e+00] [ 1.98947345e-02 3.24918633e-04 9.99802027e-01 1.41867424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.35, Y:4.80, Z:1.42 [[ 9.93168143e-01 -1.15012914e-01 -1.97248493e-02 2.47346740e+02] [ 1.14983661e-01 9.93363942e-01 -2.61464076e-03 4.79960238e+00] [ 1.98946715e-02 3.28742529e-04 9.99802027e-01 1.41986846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.40, Y:4.81, Z:1.42 [[ 9.93093376e-01 -1.15656779e-01 -1.97244997e-02 2.47404211e+02] [ 1.15627600e-01 9.93289186e-01 -2.61727536e-03 4.81173279e+00] [ 1.98948379e-02 3.18502254e-04 9.99802027e-01 1.41796187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.46, Y:4.82, Z:1.42 [[ 9.93048851e-01 -1.16038518e-01 -1.97241471e-02 2.47462131e+02] [ 1.16009362e-01 9.93244665e-01 -2.61993022e-03 4.81974668e+00] [ 1.98949167e-02 3.13532980e-04 9.99802027e-01 1.42210625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.52, Y:4.83, Z:1.42 [[ 9.92828367e-01 -1.17910156e-01 -1.97237951e-02 2.47519683e+02] [ 1.17881316e-01 9.93024228e-01 -2.62257772e-03 4.83047228e+00] [ 1.98954349e-02 2.78702641e-04 9.99802027e-01 1.42339607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.58, Y:4.84, Z:1.42 [[ 9.92817340e-01 -1.18003027e-01 -1.97234390e-02 2.47578450e+02] [ 1.17974152e-01 9.93013196e-01 -2.62525260e-03 4.83722228e+00] [ 1.98954230e-02 2.79540307e-04 9.99802027e-01 1.42250409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.64, Y:4.85, Z:1.43 [[ 9.92946792e-01 -1.16908801e-01 -1.97230832e-02 2.47636240e+02] [ 1.16879657e-01 9.93142608e-01 -2.62792317e-03 4.84603912e+00] [ 1.98950616e-02 3.04160688e-04 9.99802027e-01 1.42560841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.69, Y:4.85, Z:1.43 [[ 9.93064375e-01 -1.15905826e-01 -1.97227264e-02 2.47694768e+02] [ 1.15876431e-01 9.93260154e-01 -2.63059796e-03 4.85362196e+00] [ 1.98946999e-02 3.26953959e-04 9.99802027e-01 1.42614231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.75, Y:4.86, Z:1.43 [[ 9.92927146e-01 -1.17075661e-01 -1.97223720e-02 2.47752442e+02] [ 1.17046444e-01 9.93122951e-01 -2.63325258e-03 4.86316880e+00] [ 1.98950301e-02 3.06194453e-04 9.99802027e-01 1.42770993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.81, Y:4.87, Z:1.43 [[ 9.92744476e-01 -1.18614701e-01 -1.97220163e-02 2.47810660e+02] [ 1.18585735e-01 9.92940318e-01 -2.63591400e-03 4.87046831e+00] [ 1.98954433e-02 2.78039273e-04 9.99802027e-01 1.42731111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.87, Y:4.88, Z:1.43 [[ 9.92430020e-01 -1.21217621e-01 -1.97216593e-02 2.47868150e+02] [ 1.21189115e-01 9.92625930e-01 -2.63858225e-03 4.88287454e+00] [ 1.98960731e-02 2.28557788e-04 9.99802027e-01 1.42780606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.93, Y:4.89, Z:1.43 [[ 9.91907981e-01 -1.25417813e-01 -1.97213032e-02 2.47927312e+02] [ 1.25390084e-01 9.92104002e-01 -2.64124094e-03 4.88577492e+00] [ 1.98968425e-02 1.47012096e-04 9.99802027e-01 1.42936467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.99, Y:4.89, Z:1.43 [[ 9.91378916e-01 -1.29533503e-01 -1.97209443e-02 2.47985478e+02] [ 1.29506535e-01 9.91575044e-01 -2.64391814e-03 4.89192986e+00] [ 1.98972722e-02 6.71335379e-05 9.99802027e-01 1.42946382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.04, Y:4.89, Z:1.43 [[ 9.90784692e-01 -1.34002953e-01 -1.97205899e-02 2.48044318e+02] [ 1.33976818e-01 9.90980932e-01 -2.64655895e-03 4.89169267e+00] [ 1.98973753e-02 -1.99317781e-05 9.99802027e-01 1.43162420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.10, Y:4.90, Z:1.44 [[ 9.91166668e-01 -1.31147843e-01 -1.97200525e-02 2.48103111e+02] [ 1.31121062e-01 9.91362820e-01 -2.65055737e-03 4.89761937e+00] [ 1.98973417e-02 4.14298873e-05 9.99802027e-01 1.43555505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.16, Y:4.91, Z:1.44 [[ 9.91909679e-01 -1.25404633e-01 -1.97196936e-02 2.48161392e+02] [ 1.25376663e-01 9.92105666e-01 -2.65322483e-03 4.90556466e+00] [ 1.98967464e-02 1.59370010e-04 9.99802027e-01 1.43705652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.22, Y:4.91, Z:1.44 [[ 9.92148695e-01 -1.23499454e-01 -1.97193346e-02 2.48219826e+02] [ 1.23471055e-01 9.92344620e-01 -2.65589013e-03 4.91258967e+00] [ 1.98963766e-02 2.00270874e-04 9.99802027e-01 1.43772625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.28, Y:4.92, Z:1.44 [[ 9.92375438e-01 -1.21664095e-01 -1.97189789e-02 2.48278128e+02] [ 1.21635282e-01 9.92571302e-01 -2.65852864e-03 4.92067547e+00] [ 1.98959400e-02 2.39734966e-04 9.99802027e-01 1.43737817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.34, Y:4.93, Z:1.44 [[ 9.92538834e-01 -1.20323890e-01 -1.97186191e-02 2.48335968e+02] [ 1.20294759e-01 9.92734652e-01 -2.66119435e-03 4.93041148e+00] [ 1.98955617e-02 2.69292191e-04 9.99802027e-01 1.43841773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.39, Y:4.93, Z:1.44 [[ 9.92837296e-01 -1.17835878e-01 -1.97182618e-02 2.48394405e+02] [ 1.17806204e-01 9.93033032e-01 -2.66383902e-03 4.93479631e+00] [ 1.98947811e-02 3.21825150e-04 9.99802027e-01 1.44241673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.45, Y:4.94, Z:1.44 [[ 9.92778625e-01 -1.18329229e-01 -1.97179060e-02 2.48452872e+02] [ 1.18299600e-01 9.92974368e-01 -2.66647066e-03 4.94412770e+00] [ 1.98948966e-02 3.14594696e-04 9.99802027e-01 1.44256168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.51, Y:4.95, Z:1.44 [[ 9.92937071e-01 -1.16992271e-01 -1.97175464e-02 2.48511557e+02] [ 1.16962325e-01 9.93132766e-01 -2.66912674e-03 4.94985272e+00] [ 1.98944086e-02 3.44064815e-04 9.99802027e-01 1.44454050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.57, Y:4.96, Z:1.44 [[ 9.93185311e-01 -1.14865884e-01 -1.97171861e-02 2.48569689e+02] [ 1.14835467e-01 9.93380933e-01 -2.67178539e-03 4.96057064e+00] [ 1.98935737e-02 3.89345735e-04 9.99802027e-01 1.44381256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.63, Y:4.97, Z:1.45 [[ 9.93315317e-01 -1.13736216e-01 -1.97168265e-02 2.48628211e+02] [ 1.13705524e-01 9.93510896e-01 -2.67443666e-03 4.96654127e+00] [ 1.98930623e-02 4.14646806e-04 9.99802027e-01 1.44687825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.69, Y:4.97, Z:1.45 [[ 9.92865358e-01 -1.17599497e-01 -1.97164743e-02 2.48686233e+02] [ 1.17569515e-01 9.93061047e-01 -2.67703049e-03 4.97348425e+00] [ 1.98944801e-02 3.39874513e-04 9.99802027e-01 1.44817288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.74, Y:4.98, Z:1.45 [[ 9.91959903e-01 -1.25007299e-01 -1.97161168e-02 2.48744758e+02] [ 1.24978726e-01 9.92155803e-01 -2.67966140e-03 4.98110829e+00] [ 1.98964369e-02 1.94021504e-04 9.99802027e-01 1.44927887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.80, Y:4.99, Z:1.45 [[ 9.91836980e-01 -1.25978940e-01 -1.97157529e-02 2.48802684e+02] [ 1.25950506e-01 9.92032900e-01 -2.68233575e-03 4.99302167e+00] [ 1.98965934e-02 1.77230744e-04 9.99802027e-01 1.45168608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.86, Y:5.00, Z:1.45 [[ 9.91486038e-01 -1.28711844e-01 -1.97153927e-02 2.48861822e+02] [ 1.28683897e-01 9.91682028e-01 -2.68498054e-03 4.99600093e+00] [ 1.98969895e-02 1.25067150e-04 9.99802027e-01 1.45121022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.92, Y:5.00, Z:1.45 [[ 9.90953016e-01 -1.32753300e-01 -1.97150254e-02 2.48919722e+02] [ 1.32726099e-01 9.91149110e-01 -2.68767522e-03 5.00309792e+00] [ 1.98973276e-02 4.66614562e-05 9.99802027e-01 1.45364441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:248.98, Y:5.01, Z:1.47 [[ 9.90569584e-01 -1.35584801e-01 -1.97144805e-02 2.48978001e+02] [ 1.35558081e-01 9.90765745e-01 -2.69166615e-03 5.01132483e+00] [ 1.98973810e-02 -6.17451770e-06 9.99802027e-01 1.47006342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.04, Y:5.01, Z:1.46 [[ 9.90600883e-01 -1.35355989e-01 -1.97141191e-02 2.49036969e+02] [ 1.35329171e-01 9.90797031e-01 -2.69431026e-03 5.01452671e+00] [ 1.98973817e-02 1.09072855e-06 9.99802028e-01 1.45602097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.10, Y:5.02, Z:1.47 [[ 9.90254550e-01 -1.37866943e-01 -1.97137552e-02 2.49096189e+02] [ 1.37840569e-01 9.90450758e-01 -2.69697057e-03 5.01586264e+00] [ 1.98973268e-02 -4.66678611e-05 9.99802028e-01 1.46641761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.16, Y:5.02, Z:1.45 [[ 9.90089160e-01 -1.39049752e-01 -1.97134832e-02 2.49155793e+02] [ 1.39023572e-01 9.90285394e-01 -2.69895727e-03 5.02040253e+00] [ 1.98972638e-02 -6.84305228e-05 9.99802028e-01 1.45492276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.22, Y:5.02, Z:1.47 [[ 9.90020511e-01 -1.39537716e-01 -1.97133045e-02 2.49215271e+02] [ 1.39511607e-01 9.90216754e-01 -2.70026143e-03 5.02022858e+00] [ 1.98972327e-02 -7.69206007e-05 9.99802028e-01 1.46569922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.28, Y:5.02, Z:1.47 [[ 9.90335088e-01 -1.37287327e-01 -1.97130331e-02 2.49275135e+02] [ 1.37260733e-01 9.90531266e-01 -2.70224144e-03 5.01907746e+00] [ 1.98973592e-02 -2.97008682e-05 9.99802028e-01 1.47474399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.33, Y:5.02, Z:1.47 [[ 9.90238289e-01 -1.37983820e-01 -1.97128557e-02 2.49334748e+02] [ 1.37957339e-01 9.90434482e-01 -2.70353492e-03 5.01584172e+00] [ 1.98973361e-02 -4.23893182e-05 9.99802028e-01 1.47205772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.39, Y:5.01, Z:1.47 [[ 9.90368761e-01 -1.37044279e-01 -1.97124908e-02 2.49394502e+02] [ 1.37017558e-01 9.90564922e-01 -2.70619294e-03 5.01261207e+00] [ 1.98973702e-02 -2.08284118e-05 9.99802028e-01 1.47196604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.45, Y:5.01, Z:1.46 [[ 9.91054176e-01 -1.31996414e-01 -1.97121231e-02 2.49453608e+02] [ 1.31968641e-01 9.91250190e-01 -2.70886894e-03 5.01443360e+00] [ 1.98972067e-02 8.32537797e-05 9.99802028e-01 1.46278866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.51, Y:5.01, Z:1.46 [[ 9.91624983e-01 -1.27637532e-01 -1.97117618e-02 2.49512779e+02] [ 1.27608846e-01 9.91820866e-01 -2.71149514e-03 5.01405157e+00] [ 1.98966252e-02 1.73391144e-04 9.99802028e-01 1.46271191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.57, Y:5.02, Z:1.46 [[ 9.91834288e-01 -1.26000964e-01 -1.97104767e-02 2.49571448e+02] [ 1.25971770e-01 9.92030096e-01 -2.72080504e-03 5.01723455e+00] [ 1.98962101e-02 2.15624102e-04 9.99802028e-01 1.46367230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.63, Y:5.02, Z:1.46 [[ 9.92568958e-01 -1.20076684e-01 -1.97092123e-02 2.49629218e+02] [ 1.20046139e-01 9.92764560e-01 -2.72993392e-03 5.02215693e+00] [ 1.98944088e-02 3.43632830e-04 9.99802028e-01 1.46360922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:249.69, Y:5.03, Z:1.46 [[ 9.93089027e-01 -1.15696972e-01 -1.97077692e-02 2.49687650e+02] [ 1.15665359e-01 9.93284459e-01 -2.74031226e-03 5.02884996e+00] [ 1.98924667e-02 4.41867843e-04 9.99802028e-01 1.46470849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.75, Y:5.04, Z:1.47 [[ 9.93465315e-01 -1.12420289e-01 -1.97065179e-02 2.49746559e+02] [ 1.12387854e-01 9.93660612e-01 -2.74928123e-03 5.03620769e+00] [ 1.98906656e-02 5.16542295e-04 9.99802028e-01 1.46607669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.80, Y:5.05, Z:1.47 [[ 9.93445814e-01 -1.12592604e-01 -1.97058485e-02 2.49802813e+02] [ 1.12560108e-01 9.93641101e-01 -2.75407068e-03 5.04969245e+00] [ 1.98906290e-02 5.17927562e-04 9.99802028e-01 1.46544223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.86, Y:5.06, Z:1.47 [[ 9.93180209e-01 -1.14912170e-01 -1.97044381e-02 2.49860335e+02] [ 1.14879931e-01 9.93375539e-01 -2.76412545e-03 5.06150093e+00] [ 1.98915384e-02 4.81630220e-04 9.99802028e-01 1.46843676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.202320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.92, Y:5.08, Z:1.47 [[ 9.92651929e-01 -1.19389831e-01 -1.97032091e-02 2.49917183e+02] [ 1.19358300e-01 9.92847374e-01 -2.77285798e-03 5.07710579e+00] [ 1.98933305e-02 4.00741282e-04 9.99802028e-01 1.46699887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.97, Y:5.09, Z:1.47 [[ 9.91911733e-01 -1.25391176e-01 -1.97019591e-02 2.49974973e+02] [ 1.25360651e-01 9.92107338e-01 -2.78171132e-03 5.08981320e+00] [ 1.98952603e-02 2.89361684e-04 9.99802028e-01 1.46898098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.03, Y:5.10, Z:1.47 [[ 9.90851487e-01 -1.33510967e-01 -1.97015983e-02 2.50033425e+02] [ 1.33481994e-01 9.91047327e-01 -2.78426424e-03 5.09960961e+00] [ 1.98969462e-02 1.28983725e-04 9.99802028e-01 1.47020490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:5.11, Z:1.47 [[ 9.90368597e-01 -1.37047088e-01 -1.97012302e-02 2.50090904e+02] [ 1.37018762e-01 9.90564532e-01 -2.78686663e-03 5.10617672e+00] [ 1.98972718e-02 6.05870122e-05 9.99802028e-01 1.46994356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.15, Y:5.11, Z:1.47 [[ 9.89586093e-01 -1.42587687e-01 -1.97006701e-02 2.50149288e+02] [ 1.42560380e-01 9.89782173e-01 -2.79082029e-03 5.11342749e+00] [ 1.98973087e-02 -4.67780802e-05 9.99802028e-01 1.46998084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.21, Y:5.11, Z:1.49 [[ 9.88294234e-01 -1.51282538e-01 -1.97002913e-02 2.50208694e+02] [ 1.51256903e-01 9.88490539e-01 -2.79349203e-03 5.11244302e+00] [ 1.98961581e-02 -2.19012983e-04 9.99802028e-01 1.48561245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:250.27, Y:5.11, Z:1.47 [[ 9.88039056e-01 -1.52940291e-01 -1.97000091e-02 2.50268574e+02] [ 1.52914946e-01 9.88235399e-01 -2.79548052e-03 5.11414933e+00] [ 1.98957880e-02 -2.50381881e-04 9.99802028e-01 1.47162351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.33, Y:5.11, Z:1.47 [[ 9.88335433e-01 -1.51013338e-01 -1.96988035e-02 2.50327897e+02] [ 1.50987441e-01 9.88531704e-01 -2.80395015e-03 5.11496788e+00] [ 1.98963257e-02 -2.03028641e-04 9.99802028e-01 1.47391321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.39, Y:5.12, Z:1.47 [[ 9.89197787e-01 -1.45257520e-01 -1.96974850e-02 2.50386217e+02] [ 1.45230297e-01 9.89393878e-01 -2.81318254e-03 5.11637386e+00] [ 1.98972070e-02 -7.78776527e-05 9.99802028e-01 1.47327251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74232058799998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:5.12, Z:1.47 [[ 9.89852707e-01 -1.40725578e-01 -1.96959545e-02 2.50445155e+02] [ 1.40697245e-01 9.90048641e-01 -2.82385707e-03 5.12066961e+00] [ 1.98973419e-02 2.40360164e-05 9.99802028e-01 1.47370394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:250.50, Y:5.13, Z:1.47 [[ 9.91172498e-01 -1.31107594e-01 -1.96946041e-02 2.50503543e+02] [ 1.31077173e-01 9.91368119e-01 -2.83324404e-03 5.12777781e+00] [ 1.98960625e-02 2.26720538e-04 9.99802028e-01 1.47283664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.56, Y:5.13, Z:1.47 [[ 9.92459202e-01 -1.20983089e-01 -1.96932798e-02 2.50561747e+02] [ 1.20950491e-01 9.92654471e-01 -2.84241958e-03 5.13460917e+00] [ 1.98925069e-02 4.39073606e-04 9.99802028e-01 1.47312854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922320588 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:250.62, Y:5.15, Z:1.49 [[ 9.93418136e-01 -1.12838971e-01 -1.96919863e-02 2.50619339e+02] [ 1.12804596e-01 9.93613100e-01 -2.85135243e-03 5.14716470e+00] [ 1.98879593e-02 6.11238662e-04 9.99802028e-01 1.49171128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:250.68, Y:5.16, Z:1.47 [[ 9.93728614e-01 -1.10071244e-01 -1.96917124e-02 2.50678501e+02] [ 1.10036288e-01 9.93923475e-01 -2.85324326e-03 5.15817568e+00] [ 1.98861152e-02 6.68546527e-04 9.99802028e-01 1.47381941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:250.74, Y:5.17, Z:1.47 [[ 9.93853102e-01 -1.08941522e-01 -1.96915339e-02 2.50735451e+02] [ 1.08906321e-01 9.94047919e-01 -2.85447443e-03 5.16787295e+00] [ 1.98852991e-02 6.92395765e-04 9.99802028e-01 1.47326058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102320588 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:250.79, Y:5.19, Z:1.49 [[ 9.94784683e-01 -1.00078636e-01 -1.96901139e-02 2.50791736e+02] [ 1.00041506e-01 9.94979142e-01 -2.86423652e-03 5.19138487e+00] [ 1.98779015e-02 8.79469976e-04 9.99802028e-01 1.49282435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162320588 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:250.85, Y:5.20, Z:1.50 [[ 9.94868776e-01 -9.92392529e-02 -1.96898501e-02 2.50849258e+02] [ 9.92019235e-02 9.95063196e-01 -2.86604878e-03 5.20379949e+00] [ 1.98770697e-02 8.98071445e-04 9.99802028e-01 1.49643492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.91, Y:5.22, Z:1.47 [[ 9.94847345e-01 -9.94539272e-02 -1.96895003e-02 2.50907684e+02] [ 9.94165923e-02 9.95041765e-01 -2.86844977e-03 5.21805808e+00] [ 1.98771537e-02 8.96206613e-04 9.99802028e-01 1.47385949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.97, Y:5.23, Z:1.48 [[ 9.94153411e-01 -1.06166590e-01 -1.96888560e-02 2.50965026e+02] [ 1.06130480e-01 9.94348062e-01 -2.87286501e-03 5.22985047e+00] [ 1.98825781e-02 7.66480799e-04 9.99802028e-01 1.47603878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.02, Y:5.24, Z:1.48 [[ 9.93679571e-01 -1.10513866e-01 -1.96874391e-02 2.51022516e+02] [ 1.10478417e-01 9.93874343e-01 -2.88254253e-03 5.24064308e+00] [ 1.98854015e-02 6.89286511e-04 9.99802028e-01 1.47591442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.08, Y:5.25, Z:1.48 [[ 9.92885651e-01 -1.17433120e-01 -1.96861860e-02 2.51080282e+02] [ 1.17398860e-01 9.93080636e-01 -2.89107499e-03 5.24907625e+00] [ 1.98894781e-02 5.59371077e-04 9.99802028e-01 1.47558869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46232058799998 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:251.14, Y:5.26, Z:1.50 [[ 9.91301607e-01 -1.30129137e-01 -1.96858222e-02 2.51138091e+02] [ 1.30097326e-01 9.91497006e-01 -2.89355047e-03 5.25811388e+00] [ 1.98949690e-02 3.07308404e-04 9.99802028e-01 1.49671185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52232058799999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:251.20, Y:5.27, Z:1.48 [[ 9.90633180e-01 -1.35123596e-01 -1.96854527e-02 2.51197286e+02] [ 1.35092719e-01 9.90828729e-01 -2.89606208e-03 5.26537335e+00] [ 1.98962384e-02 2.09573851e-04 9.99802028e-01 1.47972467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:251.26, Y:5.27, Z:1.48 [[ 9.89812361e-01 -1.41010596e-01 -1.96850736e-02 2.51256494e+02] [ 1.40980831e-01 9.90008082e-01 -2.89863637e-03 5.26949647e+00] [ 1.98971204e-02 9.38880611e-05 9.99802028e-01 1.48128545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.32, Y:5.27, Z:1.48 [[ 9.89058919e-01 -1.46201808e-01 -1.96846835e-02 2.51315422e+02] [ 1.46173018e-01 9.89254786e-01 -2.90128331e-03 5.27279881e+00] [ 1.98973402e-02 -7.82945942e-06 9.99802028e-01 1.48101595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:251.37, Y:5.28, Z:1.48 [[ 9.88589362e-01 -1.49343905e-01 -1.96842900e-02 2.51374077e+02] [ 1.49315685e-01 9.88785312e-01 -2.90395075e-03 5.27656948e+00] [ 1.98972241e-02 -6.83584123e-05 9.99802028e-01 1.48308482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.762320588 meters Centerline goodness : 0.997585 with order 1 Centerline is valid? [True, True] Translation: X:251.43, Y:5.28, Z:1.50 [[ 9.87814486e-01 -1.54386281e-01 -1.96829134e-02 2.51433548e+02] [ 1.54358876e-01 9.88010552e-01 -2.91325160e-03 5.27525998e+00] [ 1.98966922e-02 -1.60480242e-04 9.99802028e-01 1.50399500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:251.49, Y:5.28, Z:1.49 [[ 9.88761147e-01 -1.48202670e-01 -1.96815221e-02 2.51492953e+02] [ 1.48173852e-01 9.88957010e-01 -2.92262026e-03 5.28110686e+00] [ 1.98973194e-02 -2.65135880e-05 9.99802028e-01 1.48774186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882320588 meters Centerline goodness : 0.985605 with order 1 Centerline is valid? [True, True] Translation: X:251.56, Y:5.26, Z:1.49 [[ 9.78672499e-01 -2.04481852e-01 -1.96802586e-02 2.51555014e+02] [ 2.04464107e-01 9.78869673e-01 -2.93110411e-03 5.26159975e+00] [ 1.98637659e-02 -1.15531552e-03 9.99802028e-01 1.49068127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942320588 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:251.61, Y:5.29, Z:1.49 [[ 9.89499306e-01 -1.43191708e-01 -1.96788674e-02 2.51610140e+02] [ 1.43161544e-01 9.89694966e-01 -2.94041495e-03 5.28817877e+00] [ 1.98971190e-02 9.22815215e-05 9.99802028e-01 1.49054980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002320588 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:251.67, Y:5.30, Z:1.49 [[ 9.89749827e-01 -1.41449909e-01 -1.96774795e-02 2.51668932e+02] [ 1.41419217e-01 9.89945405e-01 -2.94967338e-03 5.29592780e+00] [ 1.98968615e-02 1.36664974e-04 9.99802029e-01 1.49349200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062320588 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:251.73, Y:5.31, Z:1.50 [[ 9.90213748e-01 -1.38165046e-01 -1.96761922e-02 2.51727073e+02] [ 1.38133535e-01 9.90409196e-01 -2.95823554e-03 5.30572290e+00] [ 1.98962065e-02 2.11343513e-04 9.99802029e-01 1.49569429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122320588 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:251.79, Y:5.31, Z:1.50 [[ 9.90001885e-01 -1.39675231e-01 -1.96748173e-02 2.51785929e+02] [ 1.39643837e-01 9.90197351e-01 -2.96735230e-03 5.31143908e+00] [ 1.98964175e-02 1.90217391e-04 9.99802029e-01 1.49771465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18232058799998 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:251.84, Y:5.32, Z:1.50 [[ 9.88896459e-01 -1.47298164e-01 -1.96734340e-02 2.51843600e+02] [ 1.47268095e-01 9.89092134e-01 -2.97649535e-03 5.31697707e+00] [ 1.98972711e-02 4.61765756e-05 9.99802029e-01 1.50146583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24232058799998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:251.90, Y:5.32, Z:1.50 [[ 9.88099967e-01 -1.52549910e-01 -1.96718369e-02 2.51901569e+02] [ 1.52520671e-01 9.88295767e-01 -2.98701342e-03 5.32459037e+00] [ 1.98972617e-02 -4.88939009e-05 9.99802029e-01 1.50185354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:251.96, Y:5.33, Z:1.50 [[ 9.87907405e-01 -1.53792204e-01 -1.96702149e-02 2.51958374e+02] [ 1.53762999e-01 9.88103210e-01 -2.99765652e-03 5.33388382e+00] [ 1.98972187e-02 -6.31441690e-05 9.99802029e-01 1.50258863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362320588 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:252.02, Y:5.34, Z:1.52 [[ 9.86353942e-01 -1.63459620e-01 -1.96685760e-02 2.52016740e+02] [ 1.63432121e-01 9.86549994e-01 -3.00837165e-03 5.34082037e+00] [ 1.98957808e-02 -2.47157850e-04 9.99802029e-01 1.51609803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:252.07, Y:5.35, Z:1.51 [[ 9.85853835e-01 -1.66449451e-01 -1.96671463e-02 2.52074924e+02] [ 1.66422361e-01 9.86049944e-01 -3.01768907e-03 5.34855875e+00] [ 1.98950812e-02 -2.98052589e-04 9.99802029e-01 1.50839639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482320588 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:252.13, Y:5.36, Z:1.52 [[ 9.84131985e-01 -1.76344818e-01 -1.96657503e-02 2.52133519e+02] [ 1.76319518e-01 9.84328333e-01 -3.02675955e-03 5.35584648e+00] [ 1.98913086e-02 -4.88724722e-04 9.99802029e-01 1.52108798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.19, Y:5.36, Z:1.51 [[ 9.82403169e-01 -1.85734457e-01 -1.96653456e-02 2.52193007e+02] [ 1.85710980e-01 9.82599743e-01 -3.02938659e-03 5.35976792e+00] [ 1.98858250e-02 -6.75991632e-04 9.99802029e-01 1.50915490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602320588 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:252.25, Y:5.36, Z:1.53 [[ 9.80838273e-01 -1.93828740e-01 -1.96647310e-02 2.52252684e+02] [ 1.93806805e-01 9.81035025e-01 -3.03337080e-03 5.36066324e+00] [ 1.98797444e-02 -8.35912521e-04 9.99802029e-01 1.52584546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.31, Y:5.36, Z:1.51 [[ 9.79543177e-01 -2.00270992e-01 -1.96645410e-02 2.52313490e+02] [ 2.00250326e-01 9.79740067e-01 -3.03460211e-03 5.35811933e+00] [ 1.98738815e-02 -9.65306971e-04 9.99802029e-01 1.50958937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:252.37, Y:5.36, Z:1.51 [[ 9.79091410e-01 -2.02468179e-01 -1.96633363e-02 2.52373078e+02] [ 2.02447799e-01 9.79288330e-01 -3.04238840e-03 5.35652982e+00] [ 1.98720626e-02 -1.00202281e-03 9.99802029e-01 1.51146835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.43, Y:5.36, Z:1.51 [[ 9.79935260e-01 -1.98343870e-01 -1.96620284e-02 2.52431203e+02] [ 1.98322493e-01 9.80132073e-01 -3.05081732e-03 5.35789118e+00] [ 1.98764956e-02 -9.09819030e-04 9.99802029e-01 1.51423209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.49, Y:5.36, Z:1.51 [[ 9.80854743e-01 -1.93745804e-01 -1.96605176e-02 2.52490149e+02] [ 1.93723310e-01 9.81051432e-01 -3.06052299e-03 5.36297379e+00] [ 1.98809424e-02 -8.06772044e-04 9.99802029e-01 1.51326940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90232058799998 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:252.55, Y:5.37, Z:1.53 [[ 9.81798089e-01 -1.88907461e-01 -1.96591704e-02 2.52548210e+02] [ 1.88883824e-01 9.81994644e-01 -3.06915254e-03 5.36787212e+00] [ 1.98849858e-02 -7.00011181e-04 9.99802029e-01 1.52924210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.61, Y:5.37, Z:1.52 [[ 9.81286723e-01 -1.91546176e-01 -1.96577973e-02 2.52607638e+02] [ 1.91522892e-01 9.81483320e-01 -3.07792154e-03 5.37269339e+00] [ 1.98833643e-02 -7.44594658e-04 9.99802029e-01 1.51617877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.67, Y:5.38, Z:1.52 [[ 9.81692478e-01 -1.89455812e-01 -1.96563982e-02 2.52665782e+02] [ 1.89431932e-01 9.81889003e-01 -3.08683077e-03 5.37899165e+00] [ 1.98852193e-02 -6.93230947e-04 9.99802029e-01 1.51529213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.082320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:252.72, Y:5.38, Z:1.53 [[ 9.82498158e-01 -1.85232445e-01 -1.96548042e-02 2.52724202e+02] [ 1.85207518e-01 9.82694553e-01 -3.09694766e-03 5.38263228e+00] [ 1.98883242e-02 -5.97472123e-04 9.99802029e-01 1.53143762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.78, Y:5.39, Z:1.52 [[ 9.83183115e-01 -1.81561853e-01 -1.96533912e-02 2.52783296e+02] [ 1.81536013e-01 9.83379392e-01 -3.10588879e-03 5.38981023e+00] [ 1.98906508e-02 -5.14140864e-04 9.99802029e-01 1.51823241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:252.84, Y:5.40, Z:1.54 [[ 9.83972805e-01 -1.77232388e-01 -1.96519593e-02 2.52840391e+02] [ 1.77205504e-01 9.84168942e-01 -3.11492266e-03 5.39675516e+00] [ 1.98929131e-02 -4.17436162e-04 9.99802029e-01 1.53511430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262320588 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:252.90, Y:5.40, Z:1.54 [[ 9.84292243e-01 -1.75449840e-01 -1.96503101e-02 2.52897976e+02] [ 1.75422395e-01 9.84488302e-01 -3.12529204e-03 5.40419460e+00] [ 1.98938324e-02 -3.70903732e-04 9.99802029e-01 1.53626480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:252.96, Y:5.41, Z:1.54 [[ 9.84619842e-01 -1.73602125e-01 -1.96486204e-02 2.52956069e+02] [ 1.73574100e-01 9.84815819e-01 -3.13587876e-03 5.41199627e+00] [ 1.98946675e-02 -3.22843158e-04 9.99802029e-01 1.54013216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382320588 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:253.01, Y:5.42, Z:1.54 [[ 9.84970354e-01 -1.71602426e-01 -1.96471194e-02 2.53013853e+02] [ 1.71573816e-01 9.85166246e-01 -3.14525540e-03 5.42275473e+00] [ 1.98954123e-02 -2.72947928e-04 9.99802029e-01 1.54194638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.07, Y:5.43, Z:1.52 [[ 9.85465482e-01 -1.68735986e-01 -1.96456138e-02 2.53071491e+02] [ 1.68706620e-01 9.85661263e-01 -3.15463131e-03 5.43262014e+00] [ 1.98962203e-02 -2.05564833e-04 9.99802029e-01 1.52469385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.13, Y:5.44, Z:1.53 [[ 9.85470357e-01 -1.68707717e-01 -1.96438832e-02 2.53128167e+02] [ 1.68678131e-01 9.85666104e-01 -3.16537113e-03 5.44276812e+00] [ 1.98963324e-02 -1.94114081e-04 9.99802030e-01 1.52612852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.19, Y:5.45, Z:1.53 [[ 9.85396223e-01 -1.69140384e-01 -1.96421728e-02 2.53185190e+02] [ 1.69110673e-01 9.85591951e-01 -3.17594940e-03 5.45477734e+00] [ 1.98963487e-02 -1.92132520e-04 9.99802030e-01 1.52846666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.24, Y:5.47, Z:1.53 [[ 9.84604340e-01 -1.73690949e-01 -1.96404603e-02 2.53243295e+02] [ 1.73661932e-01 9.84800172e-01 -3.18650458e-03 5.46691764e+00] [ 1.98953957e-02 -2.73354046e-04 9.99802030e-01 1.52831229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.30, Y:5.48, Z:1.53 [[ 9.83159045e-01 -1.81693710e-01 -1.96389625e-02 2.53300861e+02] [ 1.81666103e-01 9.83355081e-01 -3.19570954e-03 5.47625092e+00] [ 1.98927138e-02 -4.25843036e-04 9.99802030e-01 1.52971932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:253.36, Y:5.48, Z:1.55 [[ 9.82285289e-01 -1.86359836e-01 -1.96372585e-02 2.53358774e+02] [ 1.86332952e-01 9.82481426e-01 -3.20614610e-03 5.48376668e+00] [ 1.98907386e-02 -5.09718199e-04 9.99802030e-01 1.54690869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:253.42, Y:5.49, Z:1.54 [[ 9.81210739e-01 -1.91937286e-01 -1.96357623e-02 2.53417871e+02] [ 1.91911333e-01 9.81407001e-01 -3.21528332e-03 5.48898643e+00] [ 1.98878074e-02 -6.13454801e-04 9.99802030e-01 1.54349790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:253.48, Y:5.49, Z:1.55 [[ 9.81799756e-01 -1.88901390e-01 -1.96342701e-02 2.53476721e+02] [ 1.88874649e-01 9.81995912e-01 -3.22436990e-03 5.49470661e+00] [ 1.98898609e-02 -5.42730301e-04 9.99802030e-01 1.54569882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.54, Y:5.50, Z:1.53 [[ 9.82271749e-01 -1.86431650e-01 -1.96329087e-02 2.53535738e+02] [ 1.86404251e-01 9.82467814e-01 -3.23263839e-03 5.50367649e+00] [ 1.98913670e-02 -4.84328272e-04 9.99802030e-01 1.53282212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:253.59, Y:5.51, Z:1.55 [[ 9.82564632e-01 -1.84881988e-01 -1.96314930e-02 2.53594060e+02] [ 1.84854108e-01 9.82760629e-01 -3.24121317e-03 5.51149482e+00] [ 1.98923003e-02 -4.44260697e-04 9.99802030e-01 1.55086239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.65, Y:5.52, Z:1.55 [[ 9.82695526e-01 -1.84185146e-01 -1.96299563e-02 2.53652348e+02] [ 1.84156942e-01 9.82891477e-01 -3.25049295e-03 5.52069460e+00] [ 1.98928093e-02 -4.20747847e-04 9.99802030e-01 1.54989594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.71, Y:5.53, Z:1.54 [[ 9.82803180e-01 -1.83610004e-01 -1.96284311e-02 2.53711048e+02] [ 1.83581502e-01 9.82999088e-01 -3.25967725e-03 5.53061746e+00] [ 1.98932392e-02 -3.99795695e-04 9.99802030e-01 1.53657099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.77, Y:5.54, Z:1.56 [[ 9.83128560e-01 -1.81859890e-01 -1.96268950e-02 2.53768741e+02] [ 1.81830855e-01 9.83324389e-01 -3.26890014e-03 5.53930035e+00] [ 1.98940864e-02 -3.55026010e-04 9.99802030e-01 1.55683286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:253.83, Y:5.55, Z:1.54 [[ 9.83496504e-01 -1.79859592e-01 -1.96253572e-02 2.53826790e+02] [ 1.79829975e-01 9.83692246e-01 -3.27810651e-03 5.55043637e+00] [ 1.98949106e-02 -3.05221216e-04 9.99802030e-01 1.53976337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.88, Y:5.56, Z:1.56 [[ 9.84195538e-01 -1.75994459e-01 -1.96237944e-02 2.53884561e+02] [ 1.75963888e-01 9.84391133e-01 -3.28743547e-03 5.55894793e+00] [ 1.98960597e-02 -2.17599835e-04 9.99802030e-01 1.55621519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.94, Y:5.57, Z:1.55 [[ 9.84021347e-01 -1.76965855e-01 -1.96233471e-02 2.53943010e+02] [ 1.76935423e-01 9.84216963e-01 -3.29010369e-03 5.57066440e+00] [ 1.98958671e-02 -2.34532956e-04 9.99802030e-01 1.55465601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.00, Y:5.58, Z:1.56 [[ 9.83309195e-01 -1.80881067e-01 -1.96231250e-02 2.54000736e+02] [ 1.80851387e-01 9.83504927e-01 -3.29142736e-03 5.57974780e+00] [ 1.98947971e-02 -3.12378596e-04 9.99802030e-01 1.55593653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46232058799998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:254.06, Y:5.59, Z:1.56 [[ 9.82374617e-01 -1.85890034e-01 -1.96215754e-02 2.54060178e+02] [ 1.85861169e-01 9.82570472e-01 -3.30063975e-03 5.58953379e+00] [ 1.98931366e-02 -4.04424227e-04 9.99802030e-01 1.56097370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52232058799999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.12, Y:5.59, Z:1.56 [[ 9.80589476e-01 -1.95087871e-01 -1.96214649e-02 2.54120668e+02] [ 1.95060830e-01 9.80785590e-01 -3.30129626e-03 5.58714267e+00] [ 1.98884929e-02 -5.90162859e-04 9.99802030e-01 1.55835561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.582320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.18, Y:5.59, Z:1.55 [[ 9.79581096e-01 -2.00089816e-01 -1.96199153e-02 2.54180092e+02] [ 2.00063592e-01 9.79777322e-01 -3.31048045e-03 5.58942353e+00] [ 1.98855415e-02 -6.82346651e-04 9.99802030e-01 1.54998499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.642320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.24, Y:5.60, Z:1.55 [[ 9.79465763e-01 -2.00653776e-01 -1.96183938e-02 2.54238194e+02] [ 2.00627485e-01 9.79661979e-01 -3.31947261e-03 5.59585451e+00] [ 1.98854592e-02 -6.84679230e-04 9.99802030e-01 1.55087768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.30, Y:5.59, Z:1.55 [[ 9.79900479e-01 -1.98520000e-01 -1.96178550e-02 2.54299074e+02] [ 1.98493218e-01 9.80096629e-01 -3.32265365e-03 5.58904105e+00] [ 1.98870068e-02 -6.38141266e-04 9.99802030e-01 1.54964639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:254.36, Y:5.59, Z:1.57 [[ 9.79866571e-01 -1.98687448e-01 -1.96163267e-02 2.54358250e+02] [ 1.98660519e-01 9.80062701e-01 -3.33165230e-03 5.59239266e+00] [ 1.98871876e-02 -6.32414924e-04 9.99802030e-01 1.56500251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.42, Y:5.59, Z:1.56 [[ 9.79049043e-01 -2.02677653e-01 -1.96147858e-02 2.54417726e+02] [ 2.02651343e-01 9.79245257e-01 -3.34069928e-03 5.59197859e+00] [ 1.98847711e-02 -7.04254257e-04 9.99802030e-01 1.56293323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.48, Y:5.59, Z:1.55 [[ 9.80057118e-01 -1.97745610e-01 -1.96142391e-02 2.54477873e+02] [ 1.97718248e-01 9.80253188e-01 -3.34390601e-03 5.58982853e+00] [ 1.98881632e-02 -6.00874100e-04 9.99802030e-01 1.55317602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:254.54, Y:5.59, Z:1.57 [[ 9.81005974e-01 -1.92983397e-01 -1.96134381e-02 2.54537120e+02] [ 1.92954989e-01 9.81201895e-01 -3.34859763e-03 5.58934382e+00] [ 1.98909664e-02 -4.99516465e-04 9.99802030e-01 1.57235633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002320588 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:254.60, Y:5.59, Z:1.57 [[ 9.81827583e-01 -1.88759032e-01 -1.96118582e-02 2.54595051e+02] [ 1.88729597e-01 9.82023352e-01 -3.35782519e-03 5.59427147e+00] [ 1.98931226e-02 -4.04532707e-04 9.99802030e-01 1.57397613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.65, Y:5.59, Z:1.56 [[ 9.83068705e-01 -1.82184980e-01 -1.96100387e-02 2.54654987e+02] [ 1.82154024e-01 9.83264240e-01 -3.36841837e-03 5.59418379e+00] [ 1.98955250e-02 -2.60660772e-04 9.99802030e-01 1.55789143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:254.71, Y:5.60, Z:1.56 [[ 9.83940707e-01 -1.77415316e-01 -1.96084322e-02 2.54714259e+02] [ 1.77383226e-01 9.84136059e-01 -3.37774403e-03 5.59791724e+00] [ 1.98966287e-02 -1.54707125e-04 9.99802031e-01 1.55898476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18232058799998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:254.77, Y:5.60, Z:1.56 [[ 9.84375375e-01 -1.74987692e-01 -1.96068324e-02 2.54771640e+02] [ 1.74954937e-01 9.84570616e-01 -3.38700498e-03 5.60450157e+00] [ 1.98969953e-02 -9.62278247e-05 9.99802031e-01 1.55973194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24232058799998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:254.83, Y:5.61, Z:1.56 [[ 9.84487414e-01 -1.74356457e-01 -1.96050376e-02 2.54831546e+02] [ 1.74323370e-01 9.84682599e-01 -3.39736226e-03 5.60561189e+00] [ 1.98970914e-02 -7.29558409e-05 9.99802031e-01 1.56072593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.89, Y:5.61, Z:1.56 [[ 9.84099312e-01 -1.76533988e-01 -1.96034678e-02 2.54889900e+02] [ 1.76501153e-01 9.84294539e-01 -3.40639650e-03 5.61170387e+00] [ 1.98969310e-02 -1.07802219e-04 9.99802031e-01 1.56301552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362320588 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:254.95, Y:5.62, Z:1.58 [[ 9.82933848e-01 -1.82912069e-01 -1.96016718e-02 2.54947971e+02] [ 1.82880296e-01 9.83129251e-01 -3.41670002e-03 5.61904298e+00] [ 1.98959326e-02 -2.26369435e-04 9.99802031e-01 1.58261423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:255.01, Y:5.63, Z:1.56 [[ 9.83420073e-01 -1.80279760e-01 -1.96002033e-02 2.55006799e+02] [ 1.80247295e-01 9.83615362e-01 -3.42510351e-03 5.62550167e+00] [ 1.98965379e-02 -1.64568091e-04 9.99802031e-01 1.56366946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:255.07, Y:5.63, Z:1.57 [[ 9.83919388e-01 -1.77534596e-01 -1.95985798e-02 2.55065819e+02] [ 1.77501403e-01 9.84114555e-01 -3.43436845e-03 5.63033951e+00] [ 1.98969668e-02 -9.96336883e-05 9.99802031e-01 1.56656756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542320588 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:255.12, Y:5.64, Z:1.59 [[ 9.83793940e-01 -1.78228621e-01 -1.95969942e-02 2.55124441e+02] [ 1.78195386e-01 9.83989099e-01 -3.44339221e-03 5.64163541e+00] [ 1.98969397e-02 -1.04505550e-04 9.99802031e-01 1.59025460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602320588 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:255.18, Y:5.65, Z:1.58 [[ 9.84396111e-01 -1.74872121e-01 -1.95968821e-02 2.55183260e+02] [ 1.74838207e-01 9.84591154e-01 -3.44402996e-03 5.65370093e+00] [ 1.98971816e-02 -3.59940402e-05 9.99802031e-01 1.58386550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662320588 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:255.24, Y:5.66, Z:1.57 [[ 9.84846118e-01 -1.72319748e-01 -1.95966513e-02 2.55243157e+02] [ 1.72285303e-01 9.85041067e-01 -3.44534300e-03 5.65880971e+00] [ 1.98972069e-02 1.69176748e-05 9.99802031e-01 1.57047045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:255.30, Y:5.67, Z:1.57 [[ 9.84987472e-01 -1.71509944e-01 -1.95964267e-02 2.55300635e+02] [ 1.71475312e-01 9.85182388e-01 -3.44662007e-03 5.66879893e+00] [ 1.98971840e-02 3.45742054e-05 9.99802031e-01 1.57297899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782320588 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:255.36, Y:5.68, Z:1.59 [[ 9.85292461e-01 -1.69749279e-01 -1.95946199e-02 2.55358998e+02] [ 1.69714096e-01 9.85487278e-01 -3.45686158e-03 5.68144067e+00] [ 1.98970484e-02 8.05364542e-05 9.99802031e-01 1.59276654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842320588 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:255.42, Y:5.69, Z:1.60 [[ 9.85102473e-01 -1.70848393e-01 -1.95945085e-02 2.55418002e+02] [ 1.70813415e-01 9.85297327e-01 -3.45749298e-03 5.68543552e+00] [ 1.98971239e-02 5.89799765e-05 9.99802031e-01 1.59594148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90232058799998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:255.48, Y:5.69, Z:1.57 [[ 9.84748704e-01 -1.72875992e-01 -1.95929156e-02 2.55478229e+02] [ 1.72841236e-01 9.84943598e-01 -3.46649598e-03 5.69329443e+00] [ 1.98971907e-02 2.71636767e-05 9.99802031e-01 1.57381969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96232058799998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.54, Y:5.70, Z:1.57 [[ 9.85488479e-01 -1.68607775e-01 -1.95927723e-02 2.55535782e+02] [ 1.68572159e-01 9.85683217e-01 -3.46730592e-03 5.70401623e+00] [ 1.98968815e-02 1.14194121e-04 9.99802031e-01 1.57444126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.59, Y:5.72, Z:1.58 [[ 9.86140127e-01 -1.64753858e-01 -1.95912051e-02 2.55593580e+02] [ 1.64717305e-01 9.86334693e-01 -3.47613832e-03 5.71599629e+00] [ 1.98961925e-02 2.00948970e-04 9.99802031e-01 1.57668266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08232058799996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:255.65, Y:5.73, Z:1.58 [[ 9.86871180e-01 -1.60316937e-01 -1.95896569e-02 2.55651048e+02] [ 1.60279337e-01 9.87065545e-01 -3.48484156e-03 5.72897992e+00] [ 1.98949544e-02 2.99272493e-04 9.99802031e-01 1.57844625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14232058799996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:255.71, Y:5.74, Z:1.58 [[ 9.87222774e-01 -1.58137598e-01 -1.95881191e-02 2.55707738e+02] [ 1.58099397e-01 9.87417023e-01 -3.49346398e-03 5.74428417e+00] [ 1.98940902e-02 3.51957386e-04 9.99802031e-01 1.57840993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.76, Y:5.76, Z:1.58 [[ 9.86929028e-01 -1.59960803e-01 -1.95865982e-02 2.55764023e+02] [ 1.59922793e-01 9.87123314e-01 -3.50197007e-03 5.75758245e+00] [ 1.98945657e-02 3.23852429e-04 9.99802031e-01 1.57961349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.82, Y:5.78, Z:1.58 [[ 9.86523047e-01 -1.62446028e-01 -1.95848523e-02 2.55819760e+02] [ 1.62408313e-01 9.86717390e-01 -3.51170723e-03 5.77696670e+00] [ 1.98951772e-02 2.83637290e-04 9.99802031e-01 1.58206798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.88, Y:5.79, Z:1.58 [[ 9.86190496e-01 -1.64453060e-01 -1.95830855e-02 2.55877380e+02] [ 1.64415546e-01 9.86384878e-01 -3.52153253e-03 5.78712742e+00] [ 1.98955862e-02 2.53138223e-04 9.99802031e-01 1.58344608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.93, Y:5.80, Z:1.58 [[ 9.85282395e-01 -1.69809205e-01 -1.95815209e-02 2.55934374e+02] [ 1.69772575e-01 9.85476946e-01 -3.53021113e-03 5.80191947e+00] [ 1.98965997e-02 1.53849651e-04 9.99802031e-01 1.58457237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442320588 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:255.99, Y:5.81, Z:1.61 [[ 9.84620390e-01 -1.73606781e-01 -1.95799364e-02 2.55992254e+02] [ 1.73570727e-01 9.84815048e-01 -3.53897732e-03 5.81333474e+00] [ 1.98970065e-02 8.60454173e-05 9.99802031e-01 1.60789195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502320588 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:256.05, Y:5.82, Z:1.61 [[ 9.83358625e-01 -1.80616861e-01 -1.95797089e-02 2.56051074e+02] [ 1.80582170e-01 9.83553530e-01 -3.54023571e-03 5.81968287e+00] [ 1.98971181e-02 -5.44250057e-05 9.99802031e-01 1.61075565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562320588 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:256.11, Y:5.83, Z:1.61 [[ 9.83020893e-01 -1.82446091e-01 -1.95792451e-02 2.56109965e+02] [ 1.82411712e-01 9.83215854e-01 -3.54279861e-03 5.82701647e+00] [ 1.98969940e-02 -8.88385780e-05 9.99802031e-01 1.61044739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:256.17, Y:5.83, Z:1.59 [[ 9.81641762e-01 -1.89726429e-01 -1.95788994e-02 2.56169036e+02] [ 1.89693457e-01 9.81836966e-01 -3.54470805e-03 5.83482916e+00] [ 1.98958120e-02 -2.34355666e-04 9.99802031e-01 1.58828860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.23, Y:5.84, Z:1.59 [[ 9.80834861e-01 -1.93854728e-01 -1.95785530e-02 2.56227407e+02] [ 1.93822540e-01 9.81030196e-01 -3.54662074e-03 5.83893775e+00] [ 1.98946808e-02 -3.16115593e-04 9.99802031e-01 1.59022649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.29, Y:5.84, Z:1.59 [[ 9.79955805e-01 -1.98250784e-01 -1.95766892e-02 2.56286191e+02] [ 1.98219268e-01 9.80151249e-01 -3.55687847e-03 5.84367865e+00] [ 1.98932704e-02 -3.94893297e-04 9.99802031e-01 1.58991997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.35, Y:5.84, Z:1.59 [[ 9.78646509e-01 -2.04616295e-01 -1.95750616e-02 2.56345186e+02] [ 2.04585871e-01 9.78842125e-01 -3.56581348e-03 5.84443268e+00] [ 1.98905185e-02 -5.15110120e-04 9.99802031e-01 1.58947577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.40, Y:5.85, Z:1.59 [[ 9.77973131e-01 -2.07811078e-01 -1.95732111e-02 2.56404542e+02] [ 2.07781090e-01 9.78168815e-01 -3.57594270e-03 5.84829186e+00] [ 1.98890252e-02 -5.69767250e-04 9.99802031e-01 1.58996022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922320588 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:256.46, Y:5.85, Z:1.61 [[ 9.77485260e-01 -2.10094074e-01 -1.95715727e-02 2.56464497e+02] [ 2.10064364e-01 9.77680987e-01 -3.58488733e-03 5.84672835e+00] [ 1.98879181e-02 -6.07115448e-04 9.99802031e-01 1.60991731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982320588 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:256.52, Y:5.84, Z:1.61 [[ 9.77107241e-01 -2.11845281e-01 -1.95708150e-02 2.56524358e+02] [ 2.11815839e-01 9.77303008e-01 -3.58901899e-03 5.84495088e+00] [ 1.98869331e-02 -6.38552152e-04 9.99802031e-01 1.61278213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.59, Y:5.84, Z:1.59 [[ 9.77038458e-01 -2.12162438e-01 -1.95691307e-02 2.56586551e+02] [ 2.12132876e-01 9.77234207e-01 -3.59817942e-03 5.84292587e+00] [ 1.98870224e-02 -6.35696305e-04 9.99802032e-01 1.59058341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.65, Y:5.84, Z:1.59 [[ 9.78360878e-01 -2.05978260e-01 -1.95690710e-02 2.56646928e+02] [ 2.05947454e-01 9.78556435e-01 -3.59850384e-03 5.84326458e+00] [ 1.98906539e-02 -5.09564985e-04 9.99802032e-01 1.59465827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.71, Y:5.85, Z:1.60 [[ 9.79681936e-01 -1.99600640e-01 -1.95675291e-02 2.56705313e+02] [ 1.99568394e-01 9.79877261e-01 -3.60686899e-03 5.84889820e+00] [ 1.98937102e-02 -3.71475963e-04 9.99802032e-01 1.59550653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22232058799995 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:256.76, Y:5.86, Z:1.62 [[ 9.82508872e-01 -1.85184943e-01 -1.95666527e-02 2.56764617e+02] [ 1.85149736e-01 9.82703684e-01 -3.61161696e-03 5.85601927e+00] [ 1.98970388e-02 -7.43148828e-05 9.99802032e-01 1.61760947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.82, Y:5.87, Z:1.60 [[ 9.83634775e-01 -1.79108290e-01 -1.95665445e-02 2.56824069e+02] [ 1.79071868e-01 9.83829364e-01 -3.61220289e-03 5.87029402e+00] [ 1.98971165e-02 4.92706952e-05 9.99802032e-01 1.59543643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34232058799995 meters Centerline goodness : 0.960999 with order 1 Centerline is valid? [True, True] Translation: X:256.89, Y:5.84, Z:1.60 [[ 9.64541026e-01 -2.63206685e-01 -1.95665563e-02 2.56890426e+02] [ 2.63187169e-01 9.64738030e-01 -3.61213887e-03 5.83732498e+00] [ 1.98273401e-02 -1.66561043e-03 9.99802032e-01 1.59563844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.94, Y:5.89, Z:1.60 [[ 9.84575630e-01 -1.73862120e-01 -1.95650792e-02 2.56940100e+02] [ 1.73824504e-01 9.84769992e-01 -3.62012198e-03 5.88909371e+00] [ 1.98965050e-02 1.63393680e-04 9.99802032e-01 1.59763997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46232058799995 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:257.00, Y:5.90, Z:1.62 [[ 9.83861351e-01 -1.77859702e-01 -1.95644843e-02 2.56998699e+02] [ 1.77822812e-01 9.84055852e-01 -3.62333415e-03 5.89834435e+00] [ 1.98969904e-02 8.58468099e-05 9.99802032e-01 1.61711176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52232058799996 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:257.06, Y:5.90, Z:1.62 [[ 9.83802559e-01 -1.78184637e-01 -1.95642518e-02 2.57059386e+02] [ 1.78147786e-01 9.83997067e-01 -3.62458918e-03 5.90172835e+00] [ 1.98970125e-02 8.05519571e-05 9.99802032e-01 1.61933710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.12, Y:5.90, Z:1.60 [[ 9.81787894e-01 -1.88970302e-01 -1.95641346e-02 2.57120349e+02] [ 1.88935575e-01 9.81982793e-01 -3.62522164e-03 5.90289039e+00] [ 1.98967028e-02 -1.37162306e-04 9.99802032e-01 1.59779388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.18, Y:5.90, Z:1.60 [[ 9.81598655e-01 -1.89950866e-01 -1.95639627e-02 2.57180373e+02] [ 1.89916316e-01 9.81793585e-01 -3.62614951e-03 5.90259454e+00] [ 1.98965633e-02 -1.56092223e-04 9.99802032e-01 1.59927062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.24, Y:5.91, Z:1.60 [[ 9.82337309e-01 -1.86093334e-01 -1.95622888e-02 2.57239602e+02] [ 1.86057839e-01 9.82532069e-01 -3.63515729e-03 5.90539940e+00] [ 1.98970546e-02 -6.87665469e-05 9.99802032e-01 1.60128750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76232058799997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:257.30, Y:5.90, Z:1.61 [[ 9.83002718e-01 -1.82545990e-01 -1.95606136e-02 2.57299575e+02] [ 1.82509613e-01 9.83197316e-01 -3.64414917e-03 5.90462379e+00] [ 1.98971676e-02 1.22085163e-05 9.99802032e-01 1.60573503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.36, Y:5.91, Z:1.60 [[ 9.83685911e-01 -1.78828058e-01 -1.95589881e-02 2.57358390e+02] [ 1.78790772e-01 9.83880336e-01 -3.65285291e-03 5.91161353e+00] [ 1.98969364e-02 9.62933623e-05 9.99802032e-01 1.60325926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.42, Y:5.92, Z:1.61 [[ 9.84273203e-01 -1.75567002e-01 -1.95573514e-02 2.57415376e+02] [ 1.75528898e-01 9.84467470e-01 -3.66159487e-03 5.92228142e+00] [ 1.98964315e-02 1.71129362e-04 9.99802032e-01 1.60680792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.47, Y:5.93, Z:1.61 [[ 9.85331110e-01 -1.69529304e-01 -1.95555122e-02 2.57473467e+02] [ 1.69489816e-01 9.85525100e-01 -3.67139145e-03 5.92969341e+00] [ 1.98948565e-02 3.03076060e-04 9.99802032e-01 1.60984996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.53, Y:5.94, Z:1.61 [[ 9.85591953e-01 -1.68006414e-01 -1.95536740e-02 2.57530601e+02] [ 1.67966432e-01 9.85785842e-01 -3.68115522e-03 5.93907903e+00] [ 1.98941927e-02 3.43756099e-04 9.99802032e-01 1.60944247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.59, Y:5.95, Z:1.61 [[ 9.85948497e-01 -1.65901439e-01 -1.95518346e-02 2.57587494e+02] [ 1.65860850e-01 9.86142259e-01 -3.69089909e-03 5.95039296e+00] [ 1.98932159e-02 3.96152492e-04 9.99802032e-01 1.61275065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.64, Y:5.96, Z:1.61 [[ 9.86264016e-01 -1.64015512e-01 -1.95499956e-02 2.57644605e+02] [ 1.63974361e-01 9.86457660e-01 -3.70061470e-03 5.96307953e+00] [ 1.98922011e-02 4.44085094e-04 9.99802032e-01 1.61344928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.70, Y:5.97, Z:1.61 [[ 9.87147460e-01 -1.58611982e-01 -1.95481795e-02 2.57702529e+02] [ 1.58569581e-01 9.87340834e-01 -3.71018296e-03 5.97357446e+00] [ 1.98891954e-02 5.62751042e-04 9.99802032e-01 1.61438350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.76, Y:5.99, Z:1.62 [[ 9.87916314e-01 -1.53750735e-01 -1.95465867e-02 2.57759445e+02] [ 1.53707217e-01 9.88109439e-01 -3.71855593e-03 5.98975850e+00] [ 1.98858975e-02 6.69170627e-04 9.99802032e-01 1.61628891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.82, Y:6.00, Z:1.62 [[ 9.88052100e-01 -1.52875896e-01 -1.95450256e-02 2.57817141e+02] [ 1.52832046e-01 9.88245150e-01 -3.72674320e-03 6.00167445e+00] [ 1.98850059e-02 6.95110206e-04 9.99802032e-01 1.61770833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:257.87, Y:6.01, Z:1.62 [[ 9.87841819e-01 -1.54229030e-01 -1.95434693e-02 2.57874958e+02] [ 1.54185284e-01 9.88034893e-01 -3.73488645e-03 6.01285090e+00] [ 1.98856575e-02 6.76161661e-04 9.99802032e-01 1.61813677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.93, Y:6.03, Z:1.62 [[ 9.87628081e-01 -1.55591967e-01 -1.95426027e-02 2.57932320e+02] [ 1.55548397e-01 9.87821195e-01 -3.73941539e-03 6.02580113e+00] [ 1.98864202e-02 6.53331124e-04 9.99802032e-01 1.61723135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:257.99, Y:6.04, Z:1.62 [[ 9.87585923e-01 -1.55859534e-01 -1.95410165e-02 2.57990065e+02] [ 1.55815853e-01 9.87779011e-01 -3.74768612e-03 6.03798205e+00] [ 1.98863186e-02 6.56361901e-04 9.99802032e-01 1.61887476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.05, Y:6.05, Z:1.62 [[ 9.87102893e-01 -1.58890178e-01 -1.95394622e-02 2.58047554e+02] [ 1.58846930e-01 9.87296079e-01 -3.75577255e-03 6.04726175e+00] [ 1.98879898e-02 6.03550363e-04 9.99802032e-01 1.61998163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.11, Y:6.06, Z:1.62 [[ 9.86514732e-01 -1.62502197e-01 -1.95376572e-02 2.58105536e+02] [ 1.62459470e-01 9.86708034e-01 -3.76513869e-03 6.05653866e+00] [ 1.98898067e-02 5.40287333e-04 9.99802032e-01 1.62185296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.16, Y:6.07, Z:1.62 [[ 9.85961352e-01 -1.65826881e-01 -1.95360657e-02 2.58162944e+02] [ 1.65784643e-01 9.86154762e-01 -3.77337871e-03 6.06866283e+00] [ 1.98913118e-02 4.81625891e-04 9.99802032e-01 1.62138941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72232058799995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:258.22, Y:6.08, Z:1.62 [[ 9.86095720e-01 -1.65026167e-01 -1.95344780e-02 2.58220554e+02] [ 1.64983611e-01 9.86289059e-01 -3.78158031e-03 6.07597955e+00] [ 1.98907016e-02 5.06131446e-04 9.99802032e-01 1.62178721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.28, Y:6.08, Z:1.62 [[ 9.86386139e-01 -1.63281538e-01 -1.95326580e-02 2.58278348e+02] [ 1.63238454e-01 9.86579361e-01 -3.79095738e-03 6.08488224e+00] [ 1.98895107e-02 5.50866908e-04 9.99802032e-01 1.62427899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84232058799995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:258.34, Y:6.10, Z:1.63 [[ 9.86529861e-01 -1.62411146e-01 -1.95308404e-02 2.58335456e+02] [ 1.62367707e-01 9.86723003e-01 -3.80029887e-03 6.09660740e+00] [ 1.98887404e-02 5.77930551e-04 9.99802032e-01 1.62705537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90232058799995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:258.39, Y:6.11, Z:1.62 [[ 9.86316662e-01 -1.63701131e-01 -1.95290183e-02 2.58393211e+02] [ 1.63657759e-01 9.86509820e-01 -3.80963949e-03 6.10994830e+00] [ 1.98892106e-02 5.61435527e-04 9.99802032e-01 1.62444720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96232058799995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:258.45, Y:6.12, Z:1.65 [[ 9.86819462e-01 -1.60642550e-01 -1.95274269e-02 2.58451580e+02] [ 1.60598419e-01 9.87012448e-01 -3.81777911e-03 6.12307084e+00] [ 1.98871112e-02 6.31384837e-04 9.99802032e-01 1.64772065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.51, Y:6.13, Z:1.63 [[ 9.85694588e-01 -1.67406302e-01 -1.95271533e-02 2.58511095e+02] [ 1.67363467e-01 9.85887866e-01 -3.81917777e-03 6.13271705e+00] [ 1.98909380e-02 4.96410775e-04 9.99802032e-01 1.62995320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08232058799996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:258.57, Y:6.14, Z:1.63 [[ 9.85267401e-01 -1.69902452e-01 -1.95270372e-02 2.58570191e+02] [ 1.69860095e-01 9.85460784e-01 -3.81977130e-03 6.14046006e+00] [ 1.98921179e-02 4.46631736e-04 9.99802032e-01 1.62994228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14232058799996 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:258.63, Y:6.15, Z:1.65 [[ 9.86696154e-01 -1.61398445e-01 -1.95253994e-02 2.58628038e+02] [ 1.61354256e-01 9.86889127e-01 -3.82812535e-03 6.15456994e+00] [ 1.98872578e-02 6.26690267e-04 9.99802033e-01 1.65324066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.69, Y:6.16, Z:1.63 [[ 9.86135211e-01 -1.64791104e-01 -1.95252868e-02 2.58687847e+02] [ 1.64747569e-01 9.86328333e-01 -3.82869958e-03 6.16488974e+00] [ 1.98892792e-02 5.58871949e-04 9.99802033e-01 1.63196097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.74, Y:6.18, Z:1.63 [[ 9.86718504e-01 -1.61261780e-01 -1.95251727e-02 2.58744341e+02] [ 1.61217543e-01 9.86911465e-01 -3.82928091e-03 6.17755774e+00] [ 1.98871335e-02 6.30621959e-04 9.99802033e-01 1.63242015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.80, Y:6.19, Z:1.64 [[ 9.87182143e-01 -1.58399040e-01 -1.95233527e-02 2.58801535e+02] [ 1.58354060e-01 9.87374932e-01 -3.83853814e-03 6.19009685e+00] [ 1.98848898e-02 6.97734143e-04 9.99802033e-01 1.63648693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.86, Y:6.21, Z:1.64 [[ 9.87809679e-01 -1.54437519e-01 -1.95215271e-02 2.58858970e+02] [ 1.54391583e-01 9.88002244e-01 -3.84780012e-03 6.20577847e+00] [ 1.98815572e-02 7.86934736e-04 9.99802033e-01 1.63608828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.92, Y:6.22, Z:1.64 [[ 9.88453436e-01 -1.50262359e-01 -1.95199480e-02 2.58915474e+02] [ 1.50215452e-01 9.88645766e-01 -3.85579419e-03 6.22205115e+00] [ 1.98776947e-02 8.79075206e-04 9.99802033e-01 1.63781726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.97, Y:6.24, Z:1.64 [[ 9.88710161e-01 -1.48563987e-01 -1.95181629e-02 2.58971761e+02] [ 1.48516572e-01 9.88902367e-01 -3.86480955e-03 6.23828696e+00] [ 1.98757290e-02 9.22405825e-04 9.99802033e-01 1.63897776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:259.03, Y:6.25, Z:1.66 [[ 9.89845126e-01 -1.40803896e-01 -1.95163800e-02 2.59029025e+02] [ 1.40754799e-01 9.90036909e-01 -3.87379171e-03 6.25489433e+00] [ 1.98673815e-02 1.08742971e-03 9.99802033e-01 1.65694113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.09, Y:6.27, Z:1.64 [[ 9.87725929e-01 -1.54972928e-01 -1.95161574e-02 2.59087201e+02] [ 1.54926562e-01 9.87918390e-01 -3.87491287e-03 6.26662337e+00] [ 1.98808774e-02 8.03780751e-04 9.99802033e-01 1.63927406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682320588 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:259.14, Y:6.28, Z:1.66 [[ 9.87782466e-01 -1.54612200e-01 -1.95158237e-02 2.59144703e+02] [ 1.54565730e-01 9.87974902e-01 -3.87659283e-03 6.28035153e+00] [ 1.98805125e-02 8.12752900e-04 9.99802033e-01 1.66345915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.20, Y:6.29, Z:1.64 [[ 9.85607670e-01 -1.67918612e-01 -1.95156519e-02 2.59204111e+02] [ 1.67874724e-01 9.85800711e-01 -3.87745742e-03 6.29033927e+00] [ 1.98896408e-02 5.45467098e-04 9.99802033e-01 1.64094654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.26, Y:6.30, Z:1.64 [[ 9.84772016e-01 -1.72751910e-01 -1.95155085e-02 2.59262073e+02] [ 1.72708955e-01 9.84965267e-01 -3.87817885e-03 6.29742641e+00] [ 1.98920609e-02 4.48618904e-04 9.99802033e-01 1.64424941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.32, Y:6.30, Z:1.64 [[ 9.83954829e-01 -1.77347434e-01 -1.95136379e-02 2.59320066e+02] [ 1.77305196e-01 9.84148238e-01 -3.88756859e-03 6.30368186e+00] [ 1.98937627e-02 3.65322499e-04 9.99802033e-01 1.64461903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.38, Y:6.31, Z:1.64 [[ 9.82881614e-01 -1.83202145e-01 -1.95117032e-02 2.59378461e+02] [ 1.83160867e-01 9.83075230e-01 -3.89725480e-03 6.30686288e+00] [ 1.98954575e-02 2.56759610e-04 9.99802033e-01 1.64425730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.44, Y:6.31, Z:1.65 [[ 9.81519662e-01 -1.90364186e-01 -1.95097622e-02 2.59437817e+02] [ 1.90324128e-01 9.81713534e-01 -3.90694729e-03 6.31043451e+00] [ 1.98967404e-02 1.21567108e-04 9.99802033e-01 1.64585344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.50, Y:6.31, Z:1.65 [[ 9.80100292e-01 -1.97542028e-01 -1.95080652e-02 2.59497494e+02] [ 1.97503221e-01 9.80294419e-01 -3.91540256e-03 6.30933684e+00] [ 1.98971040e-02 -1.54185197e-05 9.99802033e-01 1.64515038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.56, Y:6.31, Z:1.65 [[ 9.80376046e-01 -1.96169118e-01 -1.95060523e-02 2.59557834e+02] [ 1.96129841e-01 9.80570077e-01 -3.92540483e-03 6.30621680e+00] [ 1.98970944e-02 2.26539228e-05 9.99802033e-01 1.64837678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16232058799994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:259.62, Y:6.30, Z:1.65 [[ 9.81474830e-01 -1.90595782e-01 -1.95040115e-02 2.59618154e+02] [ 1.90555203e-01 9.81668593e-01 -3.93551866e-03 6.30460879e+00] [ 1.98965688e-02 1.46021636e-04 9.99802033e-01 1.65002141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.68, Y:6.31, Z:1.65 [[ 9.82974547e-01 -1.82703861e-01 -1.95022809e-02 2.59677849e+02] [ 1.82661556e-01 9.83167941e-01 -3.94407594e-03 6.30808718e+00] [ 1.98946153e-02 3.14609274e-04 9.99802033e-01 1.65100233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.74, Y:6.31, Z:1.65 [[ 9.84513869e-01 -1.74218739e-01 -1.95005719e-02 2.59737202e+02] [ 1.74174600e-01 9.84706853e-01 -3.95250802e-03 6.31403597e+00] [ 1.98909477e-02 4.94794652e-04 9.99802033e-01 1.65266389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.79, Y:6.32, Z:1.65 [[ 9.86185527e-01 -1.64492854e-01 -1.94989102e-02 2.59794260e+02] [ 1.64446651e-01 9.86378027e-01 -3.96068849e-03 6.32330833e+00] [ 1.98848015e-02 6.99443180e-04 9.99802033e-01 1.65468155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.85, Y:6.33, Z:1.66 [[ 9.86962396e-01 -1.59765746e-01 -1.94970497e-02 2.59851750e+02] [ 1.59718441e-01 9.87154628e-01 -3.96982605e-03 6.33493540e+00] [ 1.98808451e-02 8.04030639e-04 9.99802033e-01 1.65616912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.91, Y:6.35, Z:1.66 [[ 9.88220501e-01 -1.51789887e-01 -1.94954333e-02 2.59908239e+02] [ 1.51740875e-01 9.88412305e-01 -3.97774819e-03 6.35078260e+00] [ 1.98733081e-02 9.72638192e-04 9.99802033e-01 1.65595792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.97, Y:6.37, Z:1.66 [[ 9.88852481e-01 -1.47616974e-01 -1.94936018e-02 2.59965153e+02] [ 1.47566978e-01 9.89044030e-01 -3.98670379e-03 6.36718049e+00] [ 1.98685356e-02 1.06565004e-03 9.99802033e-01 1.65705844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.02, Y:6.38, Z:1.66 [[ 9.88587958e-01 -1.49378413e-01 -1.94920354e-02 2.60022382e+02] [ 1.49328608e-01 9.88779557e-01 -3.99434766e-03 6.38105388e+00] [ 1.98699954e-02 1.03804549e-03 9.99802033e-01 1.65945461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.08, Y:6.40, Z:1.66 [[ 9.88191620e-01 -1.51978430e-01 -1.94904766e-02 2.60079301e+02] [ 1.51928979e-01 9.88383311e-01 -4.00193951e-03 6.39527325e+00] [ 1.98722702e-02 9.93514874e-04 9.99802033e-01 1.65909211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.14, Y:6.41, Z:1.66 [[ 9.87968578e-01 -1.53421875e-01 -1.94889059e-02 2.60135964e+02] [ 1.53372554e-01 9.88160302e-01 -4.00957405e-03 6.41079473e+00] [ 1.98733195e-02 9.72269900e-04 9.99802033e-01 1.65942299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:6.42, Z:1.66 [[ 9.87367114e-01 -1.57246415e-01 -1.94870930e-02 2.60192418e+02] [ 1.57197663e-01 9.87558984e-01 -4.01836536e-03 6.42447481e+00] [ 1.98765274e-02 9.04276318e-04 9.99802033e-01 1.66118259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82232058799997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.25, Y:6.43, Z:1.66 [[ 9.86264651e-01 -1.64019394e-01 -1.94852651e-02 2.60250357e+02] [ 1.63971787e-01 9.86456808e-01 -4.02720950e-03 6.43319706e+00] [ 1.98819129e-02 7.76860641e-04 9.99802033e-01 1.66442789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.31, Y:6.45, Z:1.66 [[ 9.84965438e-01 -1.71649300e-01 -1.94834131e-02 2.60307516e+02] [ 1.71603005e-01 9.85157915e-01 -4.03614967e-03 6.44754278e+00] [ 1.98870409e-02 6.32055692e-04 9.99802033e-01 1.66259982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942320588 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:6.46, Z:1.69 [[ 9.85310494e-01 -1.69657571e-01 -1.94817649e-02 2.60365986e+02] [ 1.69610730e-01 9.85502839e-01 -4.04408968e-03 6.45725528e+00] [ 1.98854450e-02 6.80367637e-04 9.99802033e-01 1.68907493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.43, Y:6.46, Z:1.67 [[ 9.83128329e-01 -1.81876777e-01 -1.94814640e-02 2.60427807e+02] [ 1.81832299e-01 9.83321234e-01 -4.04553850e-03 6.45931853e+00] [ 1.98923267e-02 4.34924116e-04 9.99802033e-01 1.66806725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:6.46, Z:1.67 [[ 9.82112453e-01 -1.87284831e-01 -1.94813422e-02 2.60487115e+02] [ 1.87241403e-01 9.82305597e-01 -4.04612501e-03 6.46479259e+00] [ 1.98944093e-02 3.26035902e-04 9.99802033e-01 1.66657661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.55, Y:6.46, Z:1.69 [[ 9.80448942e-01 -1.95807086e-01 -1.94796361e-02 2.60547531e+02] [ 1.95765175e-01 9.80642422e-01 -4.05432236e-03 6.46497407e+00] [ 1.98964226e-02 1.61621715e-04 9.99802034e-01 1.69041900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.61, Y:6.47, Z:1.67 [[ 9.81084409e-01 -1.92597850e-01 -1.94794675e-02 2.60608974e+02] [ 1.92555289e-01 9.81277747e-01 -4.05513205e-03 6.46756079e+00] [ 1.98957777e-02 2.27552327e-04 9.99802034e-01 1.67089392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.67, Y:6.47, Z:1.67 [[ 9.81257078e-01 -1.91716204e-01 -1.94793220e-02 2.60667969e+02] [ 1.91673456e-01 9.81450374e-01 -4.05583100e-03 6.46813890e+00] [ 1.98955564e-02 2.46143919e-04 9.99802034e-01 1.67284102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.73, Y:6.47, Z:1.67 [[ 9.81730121e-01 -1.89279168e-01 -1.94773275e-02 2.60727885e+02] [ 1.89235751e-01 9.81923267e-01 -4.06538691e-03 6.47074196e+00] [ 1.98947341e-02 3.05306098e-04 9.99802034e-01 1.67405456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.79, Y:6.48, Z:1.70 [[ 9.81778262e-01 -1.89029481e-01 -1.94755899e-02 2.60787306e+02] [ 1.88985850e-01 9.81971361e-01 -4.07369384e-03 6.47588546e+00] [ 1.98945198e-02 3.18853158e-04 9.99802034e-01 1.69819710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.85, Y:6.48, Z:1.68 [[ 9.82388952e-01 -1.85829636e-01 -1.94754714e-02 2.60848180e+02] [ 1.85785364e-01 9.82581904e-01 -4.07426024e-03 6.48198140e+00] [ 1.98933641e-02 3.84250701e-04 9.99802034e-01 1.67787422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.91, Y:6.49, Z:1.68 [[ 9.82554903e-01 -1.84950194e-01 -1.94753222e-02 2.60907424e+02] [ 1.84905736e-01 9.82747813e-01 -4.07497355e-03 6.48505622e+00] [ 1.98929974e-02 4.02786470e-04 9.99802034e-01 1.67776624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.97, Y:6.49, Z:1.68 [[ 9.82499528e-01 -1.85244340e-01 -1.94733667e-02 2.60965394e+02] [ 1.85199755e-01 9.82692408e-01 -4.08429716e-03 6.49185447e+00] [ 1.98929225e-02 4.06357298e-04 9.99802034e-01 1.67879813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.02, Y:6.49, Z:1.68 [[ 9.81642456e-01 -1.89733905e-01 -1.94713777e-02 2.61024909e+02] [ 1.89690015e-01 9.81835495e-01 -4.09375747e-03 6.49405390e+00] [ 1.98944143e-02 3.25080217e-04 9.99802034e-01 1.68135776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66232058799994 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:261.08, Y:6.50, Z:1.70 [[ 9.81375074e-01 -1.91112275e-01 -1.94695236e-02 2.61084231e+02] [ 1.91068481e-01 9.81568136e-01 -4.10255632e-03 6.50019861e+00] [ 1.98947129e-02 3.06134220e-04 9.99802034e-01 1.70061414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72232058799995 meters Centerline goodness : 0.994785 with order 1 Centerline is valid? [True, True] Translation: X:261.14, Y:6.51, Z:1.72 [[ 9.83980304e-01 -1.77210917e-01 -1.94692784e-02 2.61142719e+02] [ 1.77164373e-01 9.84172721e-01 -4.10371975e-03 6.51067907e+00] [ 1.98883566e-02 5.88716912e-04 9.99802034e-01 1.72136800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.20, Y:6.51, Z:1.69 [[ 9.80851920e-01 -1.93779430e-01 -1.94690361e-02 2.61204380e+02] [ 1.93736115e-01 9.81045090e-01 -4.10486886e-03 6.51260825e+00] [ 1.98954414e-02 2.54413085e-04 9.99802034e-01 1.68649830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:261.26, Y:6.52, Z:1.71 [[ 9.81097472e-01 -1.92532356e-01 -1.94690206e-02 2.61264695e+02] [ 1.92488794e-01 9.81290586e-01 -4.10494214e-03 6.51733188e+00] [ 1.98951009e-02 2.79780050e-04 9.99802034e-01 1.70806936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.33, Y:6.52, Z:1.69 [[ 9.80372346e-01 -1.96191300e-01 -1.94688972e-02 2.61325380e+02] [ 1.96148447e-01 9.80565618e-01 -4.10552770e-03 6.52228751e+00] [ 1.98960000e-02 2.06151872e-04 9.99802034e-01 1.68797828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:6.53, Z:1.71 [[ 9.80928381e-01 -1.93392027e-01 -1.94688110e-02 2.61385092e+02] [ 1.93348614e-01 9.81121529e-01 -4.10593619e-03 6.52752697e+00] [ 1.98953250e-02 2.63361702e-04 9.99802034e-01 1.70794009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.45, Y:6.53, Z:1.69 [[ 9.80651699e-01 -1.94790183e-01 -1.94686873e-02 2.61445785e+02] [ 1.94747035e-01 9.80844906e-01 -4.10652266e-03 6.53208792e+00] [ 1.98956731e-02 2.35599305e-04 9.99802034e-01 1.68916664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08232058799996 meters Centerline goodness : 0.997223 with order 1 Centerline is valid? [True, True] Translation: X:261.50, Y:6.56, Z:1.72 [[ 9.86037510e-01 -1.65381391e-01 -1.94685336e-02 2.61502107e+02] [ 1.65332470e-01 9.86229337e-01 -4.10725123e-03 6.55544596e+00] [ 1.98797019e-02 8.31123022e-04 9.99802034e-01 1.71812806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.56, Y:6.56, Z:1.69 [[ 9.82200537e-01 -1.86823703e-01 -1.94681646e-02 2.61564037e+02] [ 1.86778938e-01 9.82393376e-01 -4.10899956e-03 6.55649781e+00] [ 1.98930545e-02 3.99618467e-04 9.99802034e-01 1.69135463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.62, Y:6.57, Z:1.70 [[ 9.82552520e-01 -1.84963629e-01 -1.94679668e-02 2.61621717e+02] [ 1.84918481e-01 9.82745269e-01 -4.10993662e-03 6.56682926e+00] [ 1.98922410e-02 4.38241734e-04 9.99802034e-01 1.69504404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.68, Y:6.58, Z:1.70 [[ 9.82480023e-01 -1.85348511e-01 -1.94662274e-02 2.61678876e+02] [ 1.85303275e-01 9.82672752e-01 -4.11815836e-03 6.57829063e+00] [ 1.98922258e-02 4.38852621e-04 9.99802034e-01 1.69581370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.74, Y:6.59, Z:1.70 [[ 9.82172792e-01 -1.86969890e-01 -1.94644910e-02 2.61736069e+02] [ 1.86924810e-01 9.82365558e-01 -4.12634937e-03 6.58817821e+00] [ 1.98927486e-02 4.14391799e-04 9.99802034e-01 1.69659688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38232058799997 meters Centerline goodness : 0.998253 with order 1 Centerline is valid? [True, True] Translation: X:261.79, Y:6.60, Z:1.73 [[ 9.85984313e-01 -1.65698931e-01 -1.94627511e-02 2.61793516e+02] [ 1.65649534e-01 9.86176017e-01 -4.13453964e-03 6.60276667e+00] [ 1.98787872e-02 8.52595569e-04 9.99802034e-01 1.72784888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.85, Y:6.61, Z:1.70 [[ 9.82506409e-01 -1.85208985e-01 -1.94625046e-02 2.61854407e+02] [ 1.85163375e-01 9.82699049e-01 -4.13569985e-03 6.60681315e+00] [ 1.98917535e-02 4.59608585e-04 9.99802034e-01 1.69737847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502320588 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:261.91, Y:6.62, Z:1.73 [[ 9.87156399e-01 -1.58566899e-01 -1.94623411e-02 2.61911473e+02] [ 1.58516080e-01 9.87347731e-01 -4.13646891e-03 6.62377074e+00] [ 1.98720054e-02 9.98247732e-04 9.99802034e-01 1.72640126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.97, Y:6.63, Z:1.70 [[ 9.84015637e-01 -1.77015397e-01 -1.94621633e-02 2.61972982e+02] [ 1.76968151e-01 9.84207883e-01 -4.13730515e-03 6.62633643e+00] [ 1.98871813e-02 6.26989897e-04 9.99802034e-01 1.70395890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622320588 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:262.03, Y:6.64, Z:1.73 [[ 9.89334334e-01 -1.44356527e-01 -1.94619766e-02 2.62030318e+02] [ 1.44302928e-01 9.89524906e-01 -4.13818328e-03 6.64433699e+00] [ 1.98554844e-02 1.28562659e-03 9.99802034e-01 1.72667410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.09, Y:6.65, Z:1.71 [[ 9.86610223e-01 -1.61930569e-01 -1.94617200e-02 2.62090496e+02] [ 1.61880345e-01 9.86801712e-01 -4.13938989e-03 6.65095553e+00] [ 1.98751524e-02 9.33494436e-04 9.99802034e-01 1.70832656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.15, Y:6.67, Z:1.71 [[ 9.88161033e-01 -1.52180882e-01 -1.94615611e-02 2.62147372e+02] [ 1.52128755e-01 9.88352013e-01 -4.14013664e-03 6.66539718e+00] [ 1.98649228e-02 1.13045864e-03 9.99802034e-01 1.70747918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802320588 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:262.21, Y:6.68, Z:1.72 [[ 9.93036482e-01 -1.16188897e-01 -1.94598477e-02 2.62205043e+02] [ 1.16129711e-01 9.93225394e-01 -4.14817445e-03 6.68098121e+00] [ 1.98099868e-02 1.85942207e-03 9.99802034e-01 1.72347146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.26, Y:6.70, Z:1.71 [[ 9.90772548e-01 -1.34130822e-01 -1.94597395e-02 2.62261419e+02] [ 1.34075053e-01 9.90962496e-01 -4.14868228e-03 6.70179701e+00] [ 1.98403382e-02 1.50133491e-03 9.99802034e-01 1.71157842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.32, Y:6.72, Z:1.71 [[ 9.91138556e-01 -1.31399011e-01 -1.94592775e-02 2.62317326e+02] [ 1.31342677e-01 9.91328337e-01 -4.15084824e-03 6.71815134e+00] [ 1.98359505e-02 1.55823215e-03 9.99802034e-01 1.71447980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.37, Y:6.74, Z:1.72 [[ 9.91207417e-01 -1.30878798e-01 -1.94575618e-02 2.62372832e+02] [ 1.30822207e-01 9.91397122e-01 -4.15887508e-03 6.73897256e+00] [ 1.98344793e-02 1.57682665e-03 9.99802034e-01 1.71514378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.43, Y:6.76, Z:1.72 [[ 9.90691263e-01 -1.34730442e-01 -1.94558407e-02 2.62427520e+02] [ 1.34674432e-01 9.90881140e-01 -4.16691123e-03 6.76104225e+00] [ 1.98398354e-02 1.50791825e-03 9.99802034e-01 1.71683726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.48, Y:6.78, Z:1.72 [[ 9.89853411e-01 -1.40754261e-01 -1.94541122e-02 2.62482569e+02] [ 1.40699250e-01 9.90043580e-01 -4.17496547e-03 6.78155716e+00] [ 1.98480631e-02 1.39542481e-03 9.99802034e-01 1.71848085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.54, Y:6.80, Z:1.72 [[ 9.88687027e-01 -1.48726488e-01 -1.94523788e-02 2.62537948e+02] [ 1.48672853e-01 9.88877589e-01 -4.18302616e-03 6.80031044e+00] [ 1.98581482e-02 1.24366304e-03 9.99802034e-01 1.71837805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22232058799995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:262.59, Y:6.82, Z:1.72 [[ 9.86796631e-01 -1.60792047e-01 -1.94506317e-02 2.62593681e+02] [ 1.60740585e-01 9.86987791e-01 -4.19113426e-03 6.81679901e+00] [ 1.98714371e-02 1.00929125e-03 9.99802034e-01 1.71773766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.65, Y:6.83, Z:1.72 [[ 9.84898999e-01 -1.72034019e-01 -1.94488701e-02 2.62650256e+02] [ 1.71984578e-01 9.85090692e-01 -4.19929330e-03 6.82971673e+00] [ 1.98813222e-02 7.90974049e-04 9.99802034e-01 1.71996659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.71, Y:6.84, Z:1.72 [[ 9.83923776e-01 -1.77526941e-01 -1.94470732e-02 2.62708092e+02] [ 1.77478407e-01 9.84115700e-01 -4.20759824e-03 6.84017531e+00] [ 1.98851321e-02 6.88520372e-04 9.99802034e-01 1.72156541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.77, Y:6.85, Z:1.72 [[ 9.82483735e-01 -1.85331005e-01 -1.94455127e-02 2.62765614e+02] [ 1.85283854e-01 9.82676004e-01 -4.21479776e-03 6.84935775e+00] [ 1.98897714e-02 5.38030713e-04 9.99802034e-01 1.72065198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.82, Y:6.86, Z:1.72 [[ 9.82282429e-01 -1.86395200e-01 -1.94437248e-02 2.62823555e+02] [ 1.86348094e-01 9.82474709e-01 -4.22302964e-03 6.85848636e+00] [ 1.98901203e-02 5.24906756e-04 9.99802034e-01 1.72202516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52232058799996 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:262.88, Y:6.87, Z:1.72 [[ 9.82307638e-01 -1.86262490e-01 -1.94419420e-02 2.62882140e+02] [ 1.86215196e-01 9.82499871e-01 -4.23122159e-03 6.86541477e+00] [ 1.98898234e-02 5.35976251e-04 9.99802034e-01 1.72395259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58232058799996 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:262.94, Y:6.88, Z:1.75 [[ 9.86651812e-01 -1.61679538e-01 -1.94403833e-02 2.62939834e+02] [ 1.61627319e-01 9.86842767e-01 -4.23837101e-03 6.87817265e+00] [ 1.98698595e-02 1.03969941e-03 9.99802034e-01 1.75116468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64232058799996 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:263.00, Y:6.88, Z:1.75 [[ 9.87262187e-01 -1.57909617e-01 -1.94403504e-02 2.62999859e+02] [ 1.57856666e-01 9.87452940e-01 -4.23852166e-03 6.88187516e+00] [ 1.98657345e-02 1.11574326e-03 9.99802034e-01 1.75018541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70232058799996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:6.89, Z:1.75 [[ 9.86410579e-01 -1.63145048e-01 -1.94387110e-02 2.63059003e+02] [ 1.63092962e-01 9.86601570e-01 -4.24602690e-03 6.89068313e+00] [ 1.98709811e-02 1.01800889e-03 9.99802034e-01 1.75040063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76232058799997 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:263.12, Y:6.90, Z:1.73 [[ 9.84456060e-01 -1.74552032e-01 -1.94384826e-02 2.63119521e+02] [ 1.74502139e-01 9.84647635e-01 -4.24707233e-03 6.89815973e+00] [ 1.98813911e-02 7.88999290e-04 9.99802034e-01 1.72689165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.18, Y:6.90, Z:1.73 [[ 9.85422685e-01 -1.69009710e-01 -1.94383586e-02 2.63177785e+02] [ 1.68958729e-01 9.85613974e-01 -4.24763972e-03 6.90348573e+00] [ 1.98766103e-02 9.01440162e-04 9.99802034e-01 1.73000194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.24, Y:6.92, Z:1.73 [[ 9.86288545e-01 -1.63881439e-01 -1.94365538e-02 2.63235892e+02] [ 1.63829302e-01 9.86479522e-01 -4.25588217e-03 6.91538589e+00] [ 1.98712224e-02 1.01325079e-03 9.99802034e-01 1.73260909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.29, Y:6.93, Z:1.73 [[ 9.86862803e-01 -1.60387309e-01 -1.94349771e-02 2.63292257e+02] [ 1.60334354e-01 9.87053555e-01 -4.26307048e-03 6.92914700e+00] [ 1.98671056e-02 1.09097118e-03 9.99802034e-01 1.73122422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.35, Y:6.94, Z:1.73 [[ 9.87135246e-01 -1.58702102e-01 -1.94331774e-02 2.63348495e+02] [ 1.58648662e-01 9.87325862e-01 -4.27125874e-03 6.94224583e+00] [ 1.98647363e-02 1.13326246e-03 9.99802034e-01 1.73483624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062320588 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:263.41, Y:6.96, Z:1.74 [[ 9.86965243e-01 -1.59756155e-01 -1.94313964e-02 2.63405800e+02] [ 1.59702760e-01 9.87155872e-01 -4.27934567e-03 6.95821152e+00] [ 1.98654689e-02 1.12031781e-03 9.99802034e-01 1.73660413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122320588 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:263.46, Y:6.97, Z:1.76 [[ 9.88737644e-01 -1.48392562e-01 -1.94298367e-02 2.63463975e+02] [ 1.48336838e-01 9.88927606e-01 -4.28641558e-03 6.97057322e+00] [ 1.98507741e-02 1.35597989e-03 9.99802034e-01 1.76145438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182320588 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:263.52, Y:6.98, Z:1.74 [[ 9.85089834e-01 -1.70940058e-01 -1.94297480e-02 2.63522925e+02] [ 1.70888681e-01 9.85281017e-01 -4.28681764e-03 6.98386349e+00] [ 1.98765507e-02 9.02576458e-04 9.99802034e-01 1.74089436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.58, Y:6.99, Z:1.74 [[ 9.84732238e-01 -1.72988184e-01 -1.94295676e-02 2.63579795e+02] [ 1.72937188e-01 9.84923522e-01 -4.28763509e-03 6.99466213e+00] [ 1.98783484e-02 8.62077703e-04 9.99802034e-01 1.74035056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302320588 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:7.01, Z:1.74 [[ 9.84915920e-01 -1.71939502e-01 -1.94277479e-02 2.63635936e+02] [ 1.71888141e-01 9.85107107e-01 -4.29586466e-03 7.00968320e+00] [ 1.98770414e-02 8.91666037e-04 9.99802034e-01 1.74385212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:263.69, Y:7.02, Z:1.74 [[ 9.84715915e-01 -1.73081481e-01 -1.94259320e-02 2.63693380e+02] [ 1.73030181e-01 9.84907118e-01 -4.30406032e-03 7.02196637e+00] [ 1.98776919e-02 8.77004170e-04 9.99802035e-01 1.74396357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.75, Y:7.04, Z:1.75 [[ 9.84568503e-01 -1.73918279e-01 -1.94241091e-02 2.63750104e+02] [ 1.73866979e-01 9.84759706e-01 -4.31227175e-03 7.03595570e+00] [ 1.98780628e-02 8.68515771e-04 9.99802035e-01 1.74671028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482320588 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:263.81, Y:7.05, Z:1.76 [[ 9.86666510e-01 -1.61591993e-01 -1.94222909e-02 2.63807412e+02] [ 1.61538146e-01 9.86857012e-01 -4.32044499e-03 7.05046380e+00] [ 1.98651733e-02 1.12539752e-03 9.99802035e-01 1.76191661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54232058799994 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:263.86, Y:7.07, Z:1.77 [[ 9.86716441e-01 -1.61287002e-01 -1.94208051e-02 2.63864753e+02] [ 1.61232965e-01 9.86906889e-01 -4.32711362e-03 7.06634218e+00] [ 1.98644335e-02 1.13836016e-03 9.99802035e-01 1.77426223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60232058799994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:263.92, Y:7.08, Z:1.78 [[ 9.85485234e-01 -1.68646656e-01 -1.94205942e-02 2.63922312e+02] [ 1.68594023e-01 9.85676074e-01 -4.32805990e-03 7.08282062e+00] [ 1.98723279e-02 9.91043003e-04 9.99802035e-01 1.77569659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66232058799994 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:263.98, Y:7.10, Z:1.77 [[ 9.85912561e-01 -1.66130278e-01 -1.94204241e-02 2.63980080e+02] [ 1.66077143e-01 9.86103262e-01 -4.32882312e-03 7.09621996e+00] [ 1.98696921e-02 1.04255254e-03 9.99802035e-01 1.77235494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.04, Y:7.11, Z:1.77 [[ 9.84096797e-01 -1.76568409e-01 -1.94188284e-02 2.64038097e+02] [ 1.76517157e-01 9.84288013e-01 -4.33596946e-03 7.10564196e+00] [ 1.98793153e-02 8.39257280e-04 9.99802035e-01 1.77383068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78232058799995 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:264.10, Y:7.12, Z:1.78 [[ 9.84158877e-01 -1.76222238e-01 -1.94172001e-02 2.64096438e+02] [ 1.76170776e-01 9.84350036e-01 -4.34324917e-03 7.11801141e+00] [ 1.98786987e-02 8.53704025e-04 9.99802035e-01 1.77832913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:264.16, Y:7.13, Z:1.76 [[ 9.82118510e-01 -1.87259747e-01 -1.94169691e-02 2.64156926e+02] [ 1.87210413e-01 9.82310230e-01 -4.34428168e-03 7.12608155e+00] [ 1.98869965e-02 6.31540640e-04 9.99802035e-01 1.75530655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:264.21, Y:7.14, Z:1.76 [[ 9.81784545e-01 -1.89002903e-01 -1.94167532e-02 2.64214671e+02] [ 1.88953891e-01 9.81976347e-01 -4.34524631e-03 7.13517496e+00] [ 1.98880565e-02 5.97224595e-04 9.99802035e-01 1.75774222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.27, Y:7.14, Z:1.76 [[ 9.81487858e-01 -1.90537780e-01 -1.94148995e-02 2.64273559e+02] [ 1.90488905e-01 9.81679695e-01 -4.35351305e-03 7.14282961e+00] [ 1.98887213e-02 5.74597256e-04 9.99802035e-01 1.75889431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02232058799996 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:264.33, Y:7.15, Z:1.76 [[ 9.81771303e-01 -1.89072034e-01 -1.94132663e-02 2.64330356e+02] [ 1.89022729e-01 9.81963030e-01 -4.36078379e-03 7.15490730e+00] [ 1.98876120e-02 6.11743823e-04 9.99802035e-01 1.75753771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.39, Y:7.16, Z:1.76 [[ 9.81946722e-01 -1.88159061e-01 -1.94114247e-02 2.64388704e+02] [ 1.88109415e-01 9.82138361e-01 -4.36896590e-03 7.16164089e+00] [ 1.98867654e-02 6.38619985e-04 9.99802035e-01 1.76013826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.45, Y:7.17, Z:1.76 [[ 9.81911515e-01 -1.88342893e-01 -1.94095818e-02 2.64446441e+02] [ 1.88293122e-01 9.82103121e-01 -4.37713820e-03 7.17337535e+00] [ 1.98866137e-02 6.43271651e-04 9.99802035e-01 1.76010686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.50, Y:7.18, Z:1.76 [[ 9.82470125e-01 -1.85407078e-01 -1.94079503e-02 2.64504311e+02] [ 1.85356592e-01 9.82661545e-01 -4.38436023e-03 7.18361527e+00] [ 1.98843378e-02 7.10111436e-04 9.99802035e-01 1.76162879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.56, Y:7.19, Z:1.76 [[ 9.82530601e-01 -1.85086524e-01 -1.94061076e-02 2.64561576e+02] [ 1.85035815e-01 9.82721961e-01 -4.39250134e-03 7.19443758e+00] [ 1.98838009e-02 7.24942054e-04 9.99802035e-01 1.76261186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32232058799997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:264.62, Y:7.21, Z:1.79 [[ 9.85780829e-01 -1.66912049e-01 -1.94042472e-02 2.64619384e+02] [ 1.66857654e-01 9.85971175e-01 -4.40070437e-03 7.20827364e+00] [ 1.98665590e-02 1.10038284e-03 9.99802035e-01 1.78550077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.68, Y:7.22, Z:1.76 [[ 9.82135257e-01 -1.87173236e-01 -1.94040439e-02 2.64678213e+02] [ 1.87122755e-01 9.82326677e-01 -4.40160037e-03 7.22193092e+00] [ 1.98849718e-02 6.92028756e-04 9.99802035e-01 1.76072404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.73, Y:7.23, Z:1.76 [[ 9.81752116e-01 -1.89172603e-01 -1.94038409e-02 2.64734658e+02] [ 1.89122494e-01 9.81943634e-01 -4.40249542e-03 7.23415795e+00] [ 1.98863095e-02 6.52456427e-04 9.99802035e-01 1.76486176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.79, Y:7.25, Z:1.76 [[ 9.80318992e-01 -1.96464338e-01 -1.94019826e-02 2.64791885e+02] [ 1.96415491e-01 9.80510837e-01 -4.41066950e-03 7.24610556e+00] [ 1.98903935e-02 5.13013129e-04 9.99802035e-01 1.76232883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.85, Y:7.25, Z:1.76 [[ 9.77910613e-01 -2.08121284e-01 -1.94001156e-02 2.64850950e+02] [ 2.08074562e-01 9.78102985e-01 -4.41886635e-03 7.25121740e+00] [ 1.98949711e-02 2.84585745e-04 9.99802035e-01 1.76385285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.91, Y:7.26, Z:1.77 [[ 9.76440808e-01 -2.14911730e-01 -1.93983524e-02 2.64908548e+02] [ 2.14866193e-01 9.76633465e-01 -4.42659322e-03 7.26068504e+00] [ 1.98964069e-02 1.54256137e-04 9.99802035e-01 1.76519975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.97, Y:7.27, Z:1.76 [[ 9.75266936e-01 -2.20177611e-01 -1.93964647e-02 2.64966396e+02] [ 2.20132949e-01 9.75459798e-01 -4.43484904e-03 7.27104095e+00] [ 1.98969260e-02 5.53606438e-05 9.99802035e-01 1.76208635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.03, Y:7.27, Z:1.77 [[ 9.74723280e-01 -2.22572188e-01 -1.93945595e-02 2.65025213e+02] [ 2.22527835e-01 9.74916212e-01 -4.44316546e-03 7.27441052e+00] [ 1.98969956e-02 1.50274785e-05 9.99802035e-01 1.76705680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.08, Y:7.28, Z:1.77 [[ 9.75442876e-01 -2.19397174e-01 -1.93926770e-02 2.65082773e+02] [ 2.19352030e-01 9.75635625e-01 -4.45136663e-03 7.28405382e+00] [ 1.98968038e-02 8.82307861e-05 9.99802035e-01 1.76629153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.14, Y:7.29, Z:1.77 [[ 9.76312633e-01 -2.15493942e-01 -1.93907980e-02 2.65141421e+02] [ 2.15447865e-01 9.76505161e-01 -4.45953703e-03 7.29177631e+00] [ 1.98962175e-02 1.76196315e-04 9.99802035e-01 1.76505698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.20, Y:7.30, Z:1.77 [[ 9.77840824e-01 -2.08449955e-01 -1.93891487e-02 2.65199976e+02] [ 2.08402349e-01 9.78032980e-01 -4.46669633e-03 7.30041259e+00] [ 1.98943095e-02 3.26973892e-04 9.99802035e-01 1.76688498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.26, Y:7.32, Z:1.77 [[ 9.79566269e-01 -2.00185040e-01 -1.93874867e-02 2.65257247e+02] [ 2.00135671e-01 9.79757979e-01 -4.47389855e-03 7.31627366e+00] [ 1.98906523e-02 5.02352466e-04 9.99802035e-01 1.76593832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.32, Y:7.33, Z:1.77 [[ 9.81024344e-01 -1.92912999e-01 -1.93858573e-02 2.65315076e+02] [ 1.92862070e-01 9.81215645e-01 -4.48094784e-03 7.32598598e+00] [ 1.98861395e-02 6.57122340e-04 9.99802035e-01 1.76982963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10232058799994 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:265.37, Y:7.35, Z:1.80 [[ 9.87081769e-01 -1.59040353e-01 -1.93842264e-02 2.65372136e+02] [ 1.58982734e-01 9.87271162e-01 -4.48799180e-03 7.34511153e+00] [ 1.98512595e-02 1.34825757e-03 9.99802035e-01 1.79653786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.43, Y:7.36, Z:1.77 [[ 9.81160739e-01 -1.92218266e-01 -1.93840718e-02 2.65431155e+02] [ 1.92167049e-01 9.81351964e-01 -4.48865955e-03 7.35715942e+00] [ 1.98853993e-02 6.79116647e-04 9.99802035e-01 1.76688190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.49, Y:7.36, Z:1.77 [[ 9.77706822e-01 -2.09078054e-01 -1.93839372e-02 2.65490276e+02] [ 2.09030125e-01 9.77898897e-01 -4.48924082e-03 7.36216561e+00] [ 1.98941325e-02 3.37334578e-04 9.99802035e-01 1.76738810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.55, Y:7.36, Z:1.77 [[ 9.72501439e-01 -2.32088963e-01 -1.93820383e-02 2.65551394e+02] [ 2.32045417e-01 9.72694555e-01 -4.49742399e-03 7.36177589e+00] [ 1.98966056e-02 -1.23761851e-04 9.99802035e-01 1.76556838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:265.61, Y:7.36, Z:1.76 [[ 9.68184410e-01 -2.49486173e-01 -1.93803717e-02 2.65613885e+02] [ 2.49445952e-01 9.68378245e-01 -4.50459450e-03 7.35604041e+00] [ 1.98913644e-02 -4.73077088e-04 9.99802035e-01 1.76280860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.68, Y:7.34, Z:1.77 [[ 9.64403738e-01 -2.63723086e-01 -1.93794801e-02 2.65676937e+02] [ 2.63685648e-01 9.64598130e-01 -4.50842703e-03 7.34420683e+00] [ 1.98823865e-02 -7.62146892e-04 9.99802035e-01 1.76759049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.74, Y:7.33, Z:1.77 [[ 9.63664206e-01 -2.66412829e-01 -1.93779059e-02 2.65739569e+02] [ 2.66375798e-01 9.63858676e-01 -4.51518297e-03 7.33424550e+00] [ 1.98804654e-02 -8.10684933e-04 9.99802035e-01 1.76670754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:7.33, Z:1.77 [[ 9.63665725e-01 -2.66407448e-01 -1.93763203e-02 2.65799827e+02] [ 2.66370279e-01 9.63860169e-01 -4.52197714e-03 7.33415443e+00] [ 1.98807518e-02 -8.03601473e-04 9.99802035e-01 1.76710482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.86, Y:7.33, Z:1.77 [[ 9.64303580e-01 -2.64089426e-01 -1.93747558e-02 2.65862052e+02] [ 2.64051656e-01 9.64497908e-01 -4.52867043e-03 7.32812046e+00] [ 1.98828854e-02 -7.48923251e-04 9.99802035e-01 1.76684066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:7.32, Z:1.77 [[ 9.63838593e-01 -2.65781575e-01 -1.93731831e-02 2.65923269e+02] [ 2.65744011e-01 9.64032961e-01 -4.53538851e-03 7.32326124e+00] [ 1.98818097e-02 -7.76924891e-04 9.99802035e-01 1.76745656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.98, Y:7.33, Z:1.77 [[ 9.71567940e-01 -2.35967132e-01 -1.93714027e-02 2.65983783e+02] [ 2.35923448e-01 9.71761024e-01 -4.54298013e-03 7.32534570e+00] [ 1.98963681e-02 -1.56354260e-04 9.99802035e-01 1.77080312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.04, Y:7.33, Z:1.77 [[ 9.70604594e-01 -2.39899008e-01 -1.93697862e-02 2.66042501e+02] [ 2.39855969e-01 9.70797823e-01 -4.54986199e-03 7.32856027e+00] [ 1.98956536e-02 -2.29841884e-04 9.99802035e-01 1.77003458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.10, Y:7.34, Z:1.77 [[ 9.70657633e-01 -2.39684466e-01 -1.93679133e-02 2.66100142e+02] [ 2.39641225e-01 9.70850817e-01 -4.55782062e-03 7.33630800e+00] [ 1.98957932e-02 -2.17267093e-04 9.99802036e-01 1.77391894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.16, Y:7.35, Z:1.78 [[ 9.71178569e-01 -2.37565029e-01 -1.93660392e-02 2.66158023e+02] [ 2.37521208e-01 9.71371623e-01 -4.56576979e-03 7.34505177e+00] [ 1.98962881e-02 -1.65667239e-04 9.99802036e-01 1.77815257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.22, Y:7.36, Z:1.78 [[ 9.71830356e-01 -2.34884632e-01 -1.93641349e-02 2.66215239e+02] [ 2.34840117e-01 9.72023250e-01 -4.57383165e-03 7.35660914e+00] [ 1.98967122e-02 -1.02487279e-04 9.99802036e-01 1.77990892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.27, Y:7.37, Z:1.78 [[ 9.77328499e-01 -2.10841432e-01 -1.93622312e-02 2.66273094e+02] [ 2.10792014e-01 9.77520196e-01 -4.58187674e-03 7.37025461e+00] [ 1.98930214e-02 3.96595016e-04 9.99802036e-01 1.77874508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.33, Y:7.38, Z:1.78 [[ 9.77971693e-01 -2.07837764e-01 -1.93605686e-02 2.66330699e+02] [ 2.07787618e-01 9.78163201e-01 -4.58889129e-03 7.38363419e+00] [ 1.98915406e-02 4.64919361e-04 9.99802036e-01 1.78055732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:266.39, Y:7.40, Z:1.78 [[ 9.78843992e-01 -2.03690137e-01 -1.93588940e-02 2.66387190e+02] [ 2.03639041e-01 9.79035249e-01 -4.59594476e-03 7.39795410e+00] [ 1.98891882e-02 5.56486311e-04 9.99802036e-01 1.78021733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.44, Y:7.41, Z:1.78 [[ 9.79467647e-01 -2.00669968e-01 -1.93569703e-02 2.66443587e+02] [ 2.00618122e-01 9.79658702e-01 -4.60403285e-03 7.41156987e+00] [ 1.98871155e-02 6.26142207e-04 9.99802036e-01 1.78052784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:7.42, Z:1.78 [[ 9.80935816e-01 -1.93365734e-01 -1.93550487e-02 2.66501727e+02] [ 1.93312307e-01 9.81126435e-01 -4.61209680e-03 7.42450059e+00] [ 1.98815714e-02 7.82601824e-04 9.99802036e-01 1.78188468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.56, Y:7.44, Z:1.79 [[ 9.82325848e-01 -1.86175643e-01 -1.93534854e-02 2.66557631e+02] [ 1.86120693e-01 9.82516033e-01 -4.61864775e-03 7.44093363e+00] [ 1.98749894e-02 9.34932961e-04 9.99802036e-01 1.78516268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362320588 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:7.46, Z:1.79 [[ 9.84917205e-01 -1.71940733e-01 -1.93515605e-02 2.66612875e+02] [ 1.71882879e-01 9.85106527e-01 -4.62669852e-03 7.46349726e+00] [ 1.98588665e-02 1.23071305e-03 9.99802036e-01 1.79005482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422320588 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:266.67, Y:7.48, Z:1.80 [[ 9.88084698e-01 -1.52689918e-01 -1.93498733e-02 2.66669175e+02] [ 1.52628244e-01 9.88272810e-01 -4.63374397e-03 7.48144040e+00] [ 1.98304797e-02 1.62519433e-03 9.99802036e-01 1.80347495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482320588 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:266.73, Y:7.50, Z:1.80 [[ 9.88106145e-01 -1.52551287e-01 -1.93481586e-02 2.66725196e+02] [ 1.52489447e-01 9.88294202e-01 -4.64089301e-03 7.50068178e+00] [ 1.98296471e-02 1.63530489e-03 9.99802036e-01 1.79889138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54232058799994 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:266.78, Y:7.51, Z:1.80 [[ 9.88042824e-01 -1.52961085e-01 -1.93464254e-02 2.66782453e+02] [ 1.52899183e-01 9.88230861e-01 -4.64810680e-03 7.51407298e+00] [ 1.98297141e-02 1.63447593e-03 9.99802036e-01 1.80005569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60232058799994 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:7.53, Z:1.81 [[ 9.89636325e-01 -1.42287507e-01 -1.93444946e-02 2.66838669e+02] [ 1.42223423e-01 9.89823630e-01 -4.65612860e-03 7.53084443e+00] [ 1.98101468e-02 1.85663376e-03 9.99802036e-01 1.80896999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66232058799994 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:266.89, Y:7.55, Z:1.81 [[ 9.90295694e-01 -1.37623719e-01 -1.93429446e-02 2.66894146e+02] [ 1.37558630e-01 9.90482652e-01 -4.66255890e-03 7.55409483e+00] [ 1.98005297e-02 1.95652305e-03 9.99802036e-01 1.80701103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.95, Y:7.57, Z:1.81 [[ 9.90986071e-01 -1.32561395e-01 -1.93412555e-02 2.66949668e+02] [ 1.32495216e-01 9.91172645e-01 -4.66955492e-03 7.57097843e+00] [ 1.97895261e-02 2.06484004e-03 9.99802036e-01 1.80983687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78232058799995 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:267.01, Y:7.59, Z:1.81 [[ 9.91337017e-01 -1.29911155e-01 -1.93393616e-02 2.67005854e+02] [ 1.29844327e-01 9.91523360e-01 -4.67738572e-03 7.58853582e+00] [ 1.97830734e-02 2.12575922e-03 9.99802036e-01 1.80970277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.06, Y:7.61, Z:1.80 [[ 9.91866022e-01 -1.25808776e-01 -1.93377038e-02 2.67059819e+02] [ 1.25741045e-01 9.92052039e-01 -4.68422965e-03 7.61032517e+00] [ 1.97733256e-02 2.21458514e-03 9.99802036e-01 1.80454508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.12, Y:7.62, Z:1.81 [[ 9.91816326e-01 -1.26200044e-01 -1.93371308e-02 2.67117011e+02] [ 1.26132342e-01 9.92002353e-01 -4.68659390e-03 7.62386442e+00] [ 1.97739276e-02 2.20920276e-03 9.99802036e-01 1.80571284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96232058799995 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:267.17, Y:7.64, Z:1.82 [[ 9.94058719e-01 -1.07114004e-01 -1.93352788e-02 2.67173270e+02] [ 1.07042593e-01 9.94243354e-01 -4.69422201e-03 7.64176132e+00] [ 1.97267894e-02 2.59663395e-03 9.99802036e-01 1.81766390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.23, Y:7.67, Z:1.81 [[ 9.93963853e-01 -1.07991046e-01 -1.93337515e-02 2.67228380e+02] [ 1.07919677e-01 9.94148504e-01 -4.70050391e-03 7.66700328e+00] [ 1.97282325e-02 2.58563875e-03 9.99802036e-01 1.81073434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08232058799996 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:267.28, Y:7.69, Z:1.82 [[ 9.95614875e-01 -9.15275361e-02 -1.93321020e-02 2.67282456e+02] [ 9.14529932e-02 9.95798269e-01 -4.70727828e-03 7.69022581e+00] [ 1.96817193e-02 2.91865768e-03 9.99802036e-01 1.81910655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14232058799996 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:267.34, Y:7.71, Z:1.81 [[ 9.95472720e-01 -9.30612758e-02 -1.93303683e-02 2.67337926e+02] [ 9.29868805e-02 9.95656173e-01 -4.71438689e-03 7.71328754e+00] [ 1.96851274e-02 2.89557289e-03 9.99802036e-01 1.81401427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20232058799996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:267.39, Y:7.74, Z:1.82 [[ 9.96607270e-01 -8.00021862e-02 -1.93287440e-02 2.67393122e+02] [ 7.99252667e-02 9.96789679e-01 -4.72103715e-03 7.73679188e+00] [ 1.96443858e-02 3.16016492e-03 9.99802036e-01 1.82402866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.45, Y:7.75, Z:1.82 [[ 9.96213755e-01 -8.47618081e-02 -1.93284619e-02 2.67449474e+02] [ 8.46857389e-02 9.96396521e-01 -4.72219167e-03 7.74947511e+00] [ 1.96590737e-02 3.06746722e-03 9.99802036e-01 1.82196241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32232058799997 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:267.51, Y:7.77, Z:1.83 [[ 9.96226491e-01 -8.46121480e-02 -1.93277553e-02 2.67505661e+02] [ 8.45359967e-02 9.96409223e-01 -4.72508221e-03 7.76918220e+00] [ 1.96581530e-02 3.07336102e-03 9.99802036e-01 1.82662101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.56, Y:7.79, Z:1.83 [[ 9.95820302e-01 -8.92660474e-02 -1.93260971e-02 2.67562147e+02] [ 8.91906225e-02 9.96003335e-01 -4.73185448e-03 7.78718773e+00] [ 1.96712511e-02 2.98837013e-03 9.99802036e-01 1.82632144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.62, Y:7.80, Z:1.82 [[ 9.95112429e-01 -9.68391369e-02 -1.93244647e-02 2.67619222e+02] [ 9.67649801e-02 9.95295979e-01 -4.73851162e-03 7.80448543e+00] [ 1.96924354e-02 2.84542037e-03 9.99802036e-01 1.82305040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.68, Y:7.82, Z:1.83 [[ 9.95002070e-01 -9.79668750e-02 -1.93228483e-02 2.67675561e+02] [ 9.78928011e-02 9.95185653e-01 -4.74509398e-03 7.82078673e+00] [ 1.96946835e-02 2.82981058e-03 9.99802036e-01 1.82881424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:267.73, Y:7.84, Z:1.83 [[ 9.94555952e-01 -1.02397019e-01 -1.93212191e-02 2.67731932e+02] [ 1.02323637e-01 9.94739812e-01 -4.75171883e-03 7.83520164e+00] [ 1.97061477e-02 2.74883284e-03 9.99802036e-01 1.83141264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:267.79, Y:7.85, Z:1.83 [[ 9.93561194e-01 -1.11637437e-01 -1.93193255e-02 2.67788217e+02] [ 1.11565621e-01 9.93745672e-01 -4.75940509e-03 7.85163673e+00] [ 1.97298239e-02 2.57338765e-03 9.99802036e-01 1.83473043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.84, Y:7.87, Z:1.83 [[ 9.91116148e-01 -1.31588825e-01 -1.93174124e-02 2.67844916e+02] [ 1.31520582e-01 9.91301977e-01 -4.76715756e-03 7.87046686e+00] [ 1.97766937e-02 2.18416951e-03 9.99802036e-01 1.82534810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.90, Y:7.89, Z:1.83 [[ 9.91575863e-01 -1.28078918e-01 -1.93157663e-02 2.67901630e+02] [ 1.28009890e-01 9.91761402e-01 -4.77381792e-03 7.88513047e+00] [ 1.97680569e-02 2.26099351e-03 9.99802036e-01 1.83400081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.96, Y:7.90, Z:1.83 [[ 9.89031488e-01 -1.46436634e-01 -1.93139515e-02 2.67958581e+02] [ 1.46370915e-01 9.89218225e-01 -4.78114909e-03 7.89899704e+00] [ 1.98058481e-02 1.90170625e-03 9.99802036e-01 1.82749161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.02, Y:7.92, Z:1.82 [[ 9.86733258e-01 -1.61197160e-01 -1.93119765e-02 2.68015315e+02] [ 1.61134084e-01 9.86920904e-01 -4.78911299e-03 7.91776139e+00] [ 1.98313847e-02 1.61375942e-03 9.99802036e-01 1.82474710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.07, Y:7.93, Z:1.83 [[ 9.84043459e-01 -1.76877315e-01 -1.93102748e-02 2.68072404e+02] [ 1.76817099e-01 9.84232042e-01 -4.79596482e-03 7.93364050e+00] [ 1.98540885e-02 1.30505104e-03 9.99802036e-01 1.82506408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.13, Y:7.95, Z:1.83 [[ 9.82091249e-01 -1.87413869e-01 -1.93085340e-02 2.68129833e+02] [ 1.87355540e-01 9.82280425e-01 -4.80296281e-03 7.94790479e+00] [ 1.98665369e-02 1.09938692e-03 9.99802036e-01 1.82587443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.19, Y:7.96, Z:1.83 [[ 9.79102261e-01 -2.02450022e-01 -1.93067733e-02 2.68186360e+02] [ 2.02394462e-01 9.79292268e-01 -4.81003003e-03 7.96289621e+00] [ 1.98807645e-02 8.01927279e-04 9.99802036e-01 1.82691112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10232058799994 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:268.24, Y:7.98, Z:1.85 [[ 9.81948248e-01 -1.88162069e-01 -1.93047391e-02 2.68241782e+02] [ 1.88103587e-01 9.82137376e-01 -4.81818057e-03 7.98463124e+00] [ 1.98665046e-02 1.09991331e-03 9.99802036e-01 1.85392100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.30, Y:7.99, Z:1.83 [[ 9.72247117e-01 -2.33158492e-01 -1.93044458e-02 2.68303700e+02] [ 2.33108753e-01 9.72438730e-01 -4.81935541e-03 7.98550859e+00] [ 1.98960644e-02 1.85569111e-04 9.99802036e-01 1.82557033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.36, Y:7.99, Z:1.82 [[ 9.67530227e-01 -2.52017073e-01 -1.93042600e-02 2.68362927e+02] [ 2.51971054e-01 9.67722767e-01 -4.82009929e-03 7.99330580e+00] [ 1.98959193e-02 -2.00522993e-04 9.99802036e-01 1.82491534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.42, Y:8.00, Z:1.83 [[ 9.63195165e-01 -2.68109098e-01 -1.93025001e-02 2.68423210e+02] [ 2.68066153e-01 9.63388414e-01 -4.82713684e-03 7.99678356e+00] [ 1.98900043e-02 -5.24872089e-04 9.99802037e-01 1.82748109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.49, Y:7.99, Z:1.83 [[ 9.58965293e-01 -2.82865775e-01 -1.93007810e-02 2.68485205e+02] [ 2.82825665e-01 9.59159150e-01 -4.83400078e-03 7.99354244e+00] [ 1.98798941e-02 -8.23117231e-04 9.99802037e-01 1.82987693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.54, Y:8.00, Z:1.83 [[ 9.57513140e-01 -2.87743171e-01 -1.92990841e-02 2.68543361e+02] [ 2.87703912e-01 9.57707171e-01 -4.84076572e-03 8.00238149e+00] [ 1.98757686e-02 -9.17325217e-04 9.99802037e-01 1.83487878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.60, Y:8.00, Z:1.83 [[ 9.53490984e-01 -3.00803194e-01 -1.92971813e-02 2.68604219e+02] [ 3.00766438e-01 9.53685505e-01 -4.84833926e-03 7.99943593e+00] [ 1.98618381e-02 -1.18109672e-03 9.99802037e-01 1.82994076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.67, Y:7.99, Z:1.83 [[ 9.50569308e-01 -3.09912407e-01 -1.92948046e-02 2.68666880e+02] [ 3.09877323e-01 9.50764138e-01 -4.85777947e-03 7.99288125e+00] [ 1.98502944e-02 -1.36136633e-03 9.99802037e-01 1.82779796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58232058799996 meters Centerline goodness : 0.997966 with order 1 Centerline is valid? [True, True] Translation: X:268.73, Y:7.98, Z:1.87 [[ 9.54615400e-01 -2.97215765e-01 -1.92931882e-02 2.68729835e+02] [ 2.97177958e-01 9.54809720e-01 -4.86419081e-03 7.98203250e+00] [ 1.98670378e-02 -1.09007881e-03 9.99802037e-01 1.86696167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.79, Y:7.98, Z:1.83 [[ 9.48124792e-01 -3.17312407e-01 -1.92928891e-02 2.68793439e+02] [ 3.17278689e-01 9.48319862e-01 -4.86537677e-03 7.97634434e+00] [ 1.98396743e-02 -1.50823823e-03 9.99802037e-01 1.82599333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.86, Y:7.96, Z:1.82 [[ 9.46812867e-01 -3.21205839e-01 -1.92925778e-02 2.68859215e+02] [ 3.21172898e-01 9.47008070e-01 -4.86661066e-03 7.95969789e+00] [ 1.98334107e-02 -1.58848355e-03 9.99802037e-01 1.82196983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76232058799997 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:268.92, Y:7.97, Z:1.86 [[ 9.62637970e-01 -2.70103666e-01 -1.92911233e-02 2.68916871e+02] [ 2.70060216e-01 9.62831107e-01 -4.87236956e-03 7.97128588e+00] [ 1.98901385e-02 -5.19436984e-04 9.99802037e-01 1.85666693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.98, Y:7.98, Z:1.82 [[ 9.56784070e-01 -2.90158841e-01 -1.92896371e-02 2.68976504e+02] [ 2.90119318e-01 9.56978048e-01 -4.87824634e-03 7.97997547e+00] [ 1.98752256e-02 -9.28867959e-04 9.99802037e-01 1.82352082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.03, Y:8.00, Z:1.82 [[ 9.55806857e-01 -2.93361941e-01 -1.92879099e-02 2.69033310e+02] [ 2.93322931e-01 9.56000939e-01 -4.88506601e-03 7.99652314e+00] [ 1.98723524e-02 -9.88406656e-04 9.99802037e-01 1.82378924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942320588 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:269.09, Y:8.01, Z:1.86 [[ 9.60280845e-01 -2.78367993e-01 -1.92862363e-02 2.69090050e+02] [ 2.78325818e-01 9.60474264e-01 -4.89166449e-03 8.01421547e+00] [ 1.98856164e-02 -6.70485770e-04 9.99802037e-01 1.86342395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002320588 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:269.14, Y:8.07, Z:1.86 [[ 9.86027353e-01 -1.65463457e-01 -1.92847876e-02 2.69138135e+02] [ 1.65399089e-01 9.86214559e-01 -4.89736894e-03 8.06741657e+00] [ 1.98292739e-02 1.63925344e-03 9.99802037e-01 1.85672198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.19, Y:8.09, Z:1.85 [[ 9.83626088e-01 -1.79186699e-01 -1.92832786e-02 2.69194810e+02] [ 1.79124830e-01 9.83814135e-01 -4.90330356e-03 8.08512671e+00] [ 1.98497688e-02 1.36890330e-03 9.99802037e-01 1.84813213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.25, Y:8.10, Z:1.85 [[ 9.83682685e-01 -1.78875933e-01 -1.92815066e-02 2.69250420e+02] [ 1.78813868e-01 9.83870667e-01 -4.91026196e-03 8.10432278e+00] [ 1.98488364e-02 1.38233889e-03 9.99802037e-01 1.84914920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182320588 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:269.31, Y:8.12, Z:1.86 [[ 9.85895873e-01 -1.66245692e-01 -1.92794663e-02 2.69305997e+02] [ 1.66181067e-01 9.86082990e-01 -4.91825969e-03 8.12366946e+00] [ 1.98287933e-02 1.64500965e-03 9.99802037e-01 1.85899509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.36, Y:8.14, Z:1.85 [[ 9.82901334e-01 -1.83120970e-01 -1.92789510e-02 2.69363678e+02] [ 1.83059522e-01 9.83089519e-01 -4.92027861e-03 8.13990511e+00] [ 1.98539409e-02 1.30695286e-03 9.99802037e-01 1.84773003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.42, Y:8.15, Z:1.85 [[ 9.81091193e-01 -1.92583498e-01 -1.92786917e-02 2.69420761e+02] [ 1.92523847e-01 9.81279955e-01 -4.92129472e-03 8.15451111e+00] [ 1.98655538e-02 1.11663103e-03 9.99802037e-01 1.85288688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.48, Y:8.17, Z:1.85 [[ 9.80171687e-01 -1.97210207e-01 -1.92768972e-02 2.69476836e+02] [ 1.97151309e-01 9.80360685e-01 -4.92831360e-03 8.17099148e+00] [ 1.98702259e-02 1.03012793e-03 9.99802037e-01 1.85086012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:269.53, Y:8.19, Z:1.85 [[ 9.79098648e-01 -2.02470539e-01 -1.92748183e-02 2.69532779e+02] [ 2.02412497e-01 9.79287911e-01 -4.93643094e-03 8.18626406e+00] [ 1.98750784e-02 9.31788752e-04 9.99802037e-01 1.85179375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:269.59, Y:8.20, Z:1.85 [[ 9.77251597e-01 -2.11205770e-01 -1.92727516e-02 2.69589317e+02] [ 2.11149262e-01 9.77441324e-01 -4.94448678e-03 8.19969503e+00] [ 1.98822879e-02 7.62580336e-04 9.99802037e-01 1.85495581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54232058799994 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:269.64, Y:8.22, Z:1.88 [[ 9.80689458e-01 -1.94619701e-01 -1.92706788e-02 2.69644941e+02] [ 1.94559829e-01 9.80878150e-01 -4.95255196e-03 8.22071355e+00] [ 1.98660520e-02 1.10761553e-03 9.99802037e-01 1.88080018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.70, Y:8.23, Z:1.87 [[ 9.75624964e-01 -2.18596840e-01 -1.92704568e-02 2.69704613e+02] [ 2.18541594e-01 9.75815062e-01 -4.95341554e-03 8.22553127e+00] [ 1.98872030e-02 6.21279511e-04 9.99802037e-01 1.87145421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66232058799994 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:269.76, Y:8.24, Z:1.88 [[ 9.74660798e-01 -2.22856439e-01 -1.92700979e-02 2.69763806e+02] [ 2.22801996e-01 9.74851127e-01 -4.95481145e-03 8.23746657e+00] [ 1.98896883e-02 5.35844195e-04 9.99802037e-01 1.87992530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.82, Y:8.24, Z:1.86 [[ 9.66752587e-01 -2.54986496e-01 -1.92697447e-02 2.69824604e+02] [ 2.54938354e-01 9.66944606e-01 -4.95618470e-03 8.24274288e+00] [ 1.98965359e-02 -1.21192620e-04 9.99802037e-01 1.85788874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78232058799995 meters Centerline goodness : 0.998011 with order 1 Centerline is valid? [True, True] Translation: X:269.88, Y:8.25, Z:1.89 [[ 9.70986343e-01 -2.38357312e-01 -1.92695178e-02 2.69882896e+02] [ 2.38305864e-01 9.71177503e-01 -4.95706694e-03 8.25370422e+00] [ 1.98956753e-02 2.21205231e-04 9.99802037e-01 1.89145485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84232058799995 meters Centerline goodness : 0.997290 with order 1 Centerline is valid? [True, True] Translation: X:269.94, Y:8.26, Z:1.90 [[ 9.69107702e-01 -2.45884034e-01 -1.92692285e-02 2.69943236e+02] [ 2.45834048e-01 9.69299251e-01 -4.95819100e-03 8.25673741e+00] [ 1.98967888e-02 6.79886432e-05 9.99802037e-01 1.89892109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90232058799995 meters Centerline goodness : 0.996996 with order 1 Centerline is valid? [True, True] Translation: X:270.00, Y:8.26, Z:1.90 [[ 9.66835173e-01 -2.54673241e-01 -1.92688585e-02 2.70003861e+02] [ 2.54624968e-01 9.67027160e-01 -4.95962864e-03 8.25969413e+00] [ 1.98965942e-02 -1.11189059e-04 9.99802037e-01 1.90281618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96232058799995 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:270.07, Y:8.26, Z:1.88 [[ 9.61768671e-01 -2.73184557e-01 -1.92670997e-02 2.70066272e+02] [ 2.73139841e-01 9.61961518e-01 -4.96645194e-03 8.25978875e+00] [ 1.98909664e-02 -4.86034650e-04 9.99802037e-01 1.87840205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02232058799996 meters Centerline goodness : 0.998402 with order 1 Centerline is valid? [True, True] Translation: X:270.12, Y:8.27, Z:1.90 [[ 9.65413388e-01 -2.60011188e-01 -1.92658107e-02 2.70124335e+02] [ 2.59963741e-01 9.65605581e-01 -4.97144701e-03 8.27099150e+00] [ 1.98958062e-02 -2.08910706e-04 9.99802037e-01 1.89767059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08232058799996 meters Centerline goodness : 0.996969 with order 1 Centerline is valid? [True, True] Translation: X:270.18, Y:8.28, Z:1.91 [[ 9.67083762e-01 -2.53727906e-01 -1.92651860e-02 2.70183516e+02] [ 2.53679162e-01 9.67275630e-01 -4.97386675e-03 8.28239928e+00] [ 1.98967537e-02 -7.70304610e-05 9.99802037e-01 1.90658675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14232058799996 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:270.24, Y:8.29, Z:1.90 [[ 9.69951359e-01 -2.42535053e-01 -1.92642247e-02 2.70242513e+02] [ 2.42484020e-01 9.70142631e-01 -4.97758717e-03 8.29493785e+00] [ 1.98962850e-02 1.56750795e-04 9.99802037e-01 1.90350904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20232058799996 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:270.30, Y:8.31, Z:1.89 [[ 9.68064440e-01 -2.49960289e-01 -1.92638167e-02 2.70301021e+02] [ 2.49910692e-01 9.68256089e-01 -4.97916559e-03 8.30686733e+00] [ 1.98969015e-02 5.91938723e-06 9.99802037e-01 1.89373621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26232058799997 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:270.36, Y:8.32, Z:1.90 [[ 9.71225447e-01 -2.37381660e-01 -1.92634089e-02 2.70357273e+02] [ 2.37329550e-01 9.71416428e-01 -4.98074277e-03 8.32444155e+00] [ 1.98951289e-02 2.65647963e-04 9.99802037e-01 1.89509138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32232058799997 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:270.41, Y:8.34, Z:1.91 [[ 9.72871687e-01 -2.30542013e-01 -1.92629231e-02 2.70414489e+02] [ 2.30488523e-01 9.73062287e-01 -4.98262100e-03 8.34194335e+00] [ 1.98927274e-02 4.07568202e-04 9.99802037e-01 1.90533417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38232058799997 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:270.47, Y:8.36, Z:1.91 [[ 9.74490998e-01 -2.23598414e-01 -1.92624953e-02 2.70471815e+02] [ 2.23543533e-01 9.74681202e-01 -4.98427434e-03 8.35569228e+00] [ 1.98892679e-02 5.51124220e-04 9.99802037e-01 1.90575685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442320588 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:270.53, Y:8.37, Z:1.90 [[ 9.73450401e-01 -2.28086151e-01 -1.92619682e-02 2.70530962e+02] [ 2.28032108e-01 9.73640845e-01 -4.98631028e-03 8.36665276e+00] [ 1.98915473e-02 4.61578529e-04 9.99802037e-01 1.90136500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502320588 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:270.59, Y:8.38, Z:1.90 [[ 9.73892890e-01 -2.26189368e-01 -1.92615784e-02 2.70589472e+02] [ 2.26134924e-01 9.74083219e-01 -4.98781571e-03 8.38042627e+00] [ 1.98905712e-02 5.01882689e-04 9.99802037e-01 1.90462367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562320588 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:270.65, Y:8.40, Z:1.91 [[ 9.74822795e-01 -2.22147622e-01 -1.92601132e-02 2.70647366e+02] [ 2.22092277e-01 9.75012864e-01 -4.99346707e-03 8.39647713e+00] [ 1.98881450e-02 5.90223137e-04 9.99802037e-01 1.90868837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622320588 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:270.70, Y:8.41, Z:1.91 [[ 9.74830488e-01 -2.22113993e-01 -1.92585760e-02 2.70704888e+02] [ 2.22058525e-01 9.75020522e-01 -4.99938868e-03 8.41253790e+00] [ 1.98879410e-02 5.97025532e-04 9.99802037e-01 1.90734530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682320588 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:270.76, Y:8.43, Z:1.91 [[ 9.74412599e-01 -2.23940310e-01 -1.92568160e-02 2.70762412e+02] [ 2.23885064e-01 9.74602697e-01 -5.00615857e-03 8.42746661e+00] [ 1.98888255e-02 5.66750496e-04 9.99802037e-01 1.91210604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742320588 meters Centerline goodness : 0.998383 with order 1 Centerline is valid? [True, True] Translation: X:270.82, Y:8.44, Z:1.92 [[ 9.74209399e-01 -2.24822811e-01 -1.92549111e-02 2.70820256e+02] [ 2.24767593e-01 9.74399504e-01 -5.01347465e-03 8.44277559e+00] [ 1.98891193e-02 5.56294107e-04 9.99802037e-01 1.91611554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802320588 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:270.88, Y:8.46, Z:1.91 [[ 9.73193303e-01 -2.29181375e-01 -1.92533678e-02 2.70876996e+02] [ 2.29126892e-01 9.73383621e-01 -5.01939434e-03 8.45714666e+00] [ 1.98912646e-02 4.73376637e-04 9.99802037e-01 1.91382963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862320588 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:270.93, Y:8.48, Z:1.92 [[ 9.73368809e-01 -2.28434857e-01 -1.92529730e-02 2.70934526e+02] [ 2.28380198e-01 9.73559077e-01 -5.02090846e-03 8.47503103e+00] [ 1.98908571e-02 4.90197911e-04 9.99802037e-01 1.91542349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922320588 meters Centerline goodness : 0.996362 with order 1 Centerline is valid? [True, True] Translation: X:270.99, Y:8.49, Z:1.92 [[ 9.73236955e-01 -2.28996033e-01 -1.92521722e-02 2.70992219e+02] [ 2.28941423e-01 9.73427236e-01 -5.02397714e-03 8.48709613e+00] [ 1.98910596e-02 4.81900523e-04 9.99802037e-01 1.92206860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.982320588 meters Centerline goodness : 0.996712 with order 1 Centerline is valid? [True, True] Translation: X:271.05, Y:8.50, Z:1.92 [[ 9.72661268e-01 -2.31429220e-01 -1.92502943e-02 2.71050594e+02] [ 2.31374944e-01 9.72851645e-01 -5.03116245e-03 8.49940824e+00] [ 1.98920384e-02 4.39581088e-04 9.99802037e-01 1.92418036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.11, Y:8.51, Z:1.89 [[ 9.63320798e-01 -2.67661124e-01 -1.92500308e-02 2.71110436e+02] [ 2.67613989e-01 9.63513067e-01 -5.03217018e-03 8.50873829e+00] [ 1.98945726e-02 -3.03983339e-04 9.99802037e-01 1.88617778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.17, Y:8.52, Z:1.89 [[ 9.63097753e-01 -2.68462659e-01 -1.92488412e-02 2.71167553e+02] [ 2.68415593e-01 9.63290040e-01 -5.03671661e-03 8.52436350e+00] [ 1.98943873e-02 -3.15838678e-04 9.99802037e-01 1.88724355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.22, Y:8.54, Z:1.89 [[ 9.64151595e-01 -2.64653081e-01 -1.92470394e-02 2.71224255e+02] [ 2.64605118e-01 9.64343660e-01 -5.04359263e-03 8.53808891e+00] [ 1.98955627e-02 -2.30077237e-04 9.99802037e-01 1.89250090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22232058799995 meters Centerline goodness : 0.997233 with order 1 Centerline is valid? [True, True] Translation: X:271.28, Y:8.56, Z:1.92 [[ 9.73078547e-01 -2.29668712e-01 -1.92463849e-02 2.71279446e+02] [ 2.29613797e-01 9.73268741e-01 -5.04608889e-03 8.56088271e+00] [ 1.98908335e-02 4.91005342e-04 9.99802037e-01 1.92329961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.34, Y:8.57, Z:1.89 [[ 9.64940429e-01 -2.61762499e-01 -1.92448041e-02 2.71338304e+02] [ 2.61713790e-01 9.65132306e-01 -5.05211055e-03 8.57464855e+00] [ 1.98962352e-02 -1.61644901e-04 9.99802037e-01 1.89234640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34232058799995 meters Centerline goodness : 0.996344 with order 1 Centerline is valid? [True, True] Translation: X:271.39, Y:8.60, Z:1.93 [[ 9.73809034e-01 -2.26551580e-01 -1.92444010e-02 2.71393004e+02] [ 2.26495906e-01 9.73999007e-01 -5.05364566e-03 8.59861957e+00] [ 1.98889388e-02 5.62507759e-04 9.99802037e-01 1.92505256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.45, Y:8.61, Z:1.90 [[ 9.64520475e-01 -2.63305768e-01 -1.92438551e-02 2.71453316e+02] [ 2.63257294e-01 9.64712411e-01 -5.05572343e-03 8.60825194e+00] [ 1.98959870e-02 -1.89736462e-04 9.99802037e-01 1.89665806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.51, Y:8.63, Z:1.90 [[ 9.64273921e-01 -2.64207306e-01 -1.92433246e-02 2.71509244e+02] [ 2.64158972e-01 9.64465892e-01 -5.05774188e-03 8.62622728e+00] [ 1.98958226e-02 -2.06248246e-04 9.99802037e-01 1.89806504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52232058799996 meters Centerline goodness : 0.993465 with order 1 Centerline is valid? [True, True] Translation: X:271.56, Y:8.65, Z:1.93 [[ 9.73452046e-01 -2.28080884e-01 -1.92412232e-02 2.71564547e+02] [ 2.28025270e-01 9.73642036e-01 -5.06572375e-03 8.64950398e+00] [ 1.98894585e-02 5.43754030e-04 9.99802037e-01 1.93353458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58232058799996 meters Centerline goodness : 0.992629 with order 1 Centerline is valid? [True, True] Translation: X:271.62, Y:8.67, Z:1.93 [[ 9.72763970e-01 -2.30997947e-01 -1.92407824e-02 2.71620840e+02] [ 2.30942870e-01 9.72954116e-01 -5.06739732e-03 8.66724585e+00] [ 1.98909568e-02 4.85860026e-04 9.99802037e-01 1.93349102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.68, Y:8.68, Z:1.90 [[ 9.63554828e-01 -2.66818213e-01 -1.92388876e-02 2.71680078e+02] [ 2.66770063e-01 9.63746846e-01 -5.07458079e-03 8.67966572e+00] [ 1.98954079e-02 -2.42722443e-04 9.99802037e-01 1.89831260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.74, Y:8.69, Z:1.90 [[ 9.63020176e-01 -2.68741551e-01 -1.92385098e-02 2.71736339e+02] [ 2.68693755e-01 9.63212282e-01 -5.07601295e-03 8.69466329e+00] [ 1.98949045e-02 -2.80964546e-04 9.99802037e-01 1.90139451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76232058799997 meters Centerline goodness : 0.996550 with order 1 Centerline is valid? [True, True] Translation: X:271.79, Y:8.71, Z:1.94 [[ 9.70928504e-01 -2.38595475e-01 -1.92364155e-02 2.71792442e+02] [ 2.38541558e-01 9.71118983e-01 -5.08393713e-03 8.71432690e+00] [ 1.98938527e-02 3.47454952e-04 9.99802037e-01 1.93830465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.85, Y:8.72, Z:1.90 [[ 9.58916538e-01 -2.83035433e-01 -1.92358142e-02 2.71853496e+02] [ 2.82990296e-01 9.59109286e-01 -5.08621111e-03 8.72051681e+00] [ 1.98888260e-02 -5.66296815e-04 9.99802037e-01 1.90322089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.91, Y:8.73, Z:1.90 [[ 9.56504618e-01 -2.91082317e-01 -1.92354202e-02 2.71910953e+02] [ 2.91038771e-01 9.56697731e-01 -5.08770078e-03 8.72950358e+00] [ 1.98834226e-02 -7.31843776e-04 9.99802037e-01 1.90412887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:271.97, Y:8.74, Z:1.91 [[ 9.54852540e-01 -2.96456918e-01 -1.92333846e-02 2.71968793e+02] [ 2.96414304e-01 9.55045861e-01 -5.09538470e-03 8.73950338e+00] [ 1.98793264e-02 -8.35709295e-04 9.99802037e-01 1.90513851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.03, Y:8.75, Z:1.91 [[ 9.55874797e-01 -2.93144209e-01 -1.92313782e-02 2.72025726e+02] [ 2.93100773e-01 9.56067935e-01 -5.10294594e-03 8.75218029e+00] [ 1.98824031e-02 -7.58954420e-04 9.99802037e-01 1.90546851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.08, Y:8.76, Z:1.91 [[ 9.58534433e-01 -2.84327228e-01 -1.92293589e-02 2.72083423e+02] [ 2.84281863e-01 9.58727127e-01 -5.11054396e-03 8.76375468e+00] [ 1.98887749e-02 -5.67925623e-04 9.99802037e-01 1.91003876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.14, Y:8.78, Z:1.91 [[ 9.60592900e-01 -2.77293314e-01 -1.92275652e-02 2.72140046e+02] [ 2.77246402e-01 9.60785224e-01 -5.11728383e-03 8.77840298e+00] [ 1.98925491e-02 -4.15146754e-04 9.99802037e-01 1.90946929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.20, Y:8.79, Z:1.91 [[ 9.61793486e-01 -2.73100112e-01 -1.92254859e-02 2.72197702e+02] [ 2.73052206e-01 9.61985565e-01 -5.12508361e-03 8.79183154e+00] [ 1.98943008e-02 -3.20289310e-04 9.99802038e-01 1.91423897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.242320588 meters Centerline goodness : 0.997791 with order 1 Centerline is valid? [True, True] Translation: X:272.25, Y:8.81, Z:1.95 [[ 9.70447131e-01 -2.40546913e-01 -1.92236591e-02 2.72252796e+02] [ 2.40492429e-01 9.70637448e-01 -5.13192681e-03 8.81310897e+00] [ 1.98936725e-02 3.57119181e-04 9.99802038e-01 1.95028620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.302320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:272.31, Y:8.82, Z:1.92 [[ 9.63454123e-01 -2.67182754e-01 -1.92231370e-02 2.72312195e+02] [ 2.67133493e-01 9.63645858e-01 -5.13388180e-03 8.82429989e+00] [ 1.98959810e-02 -1.88884124e-04 9.99802038e-01 1.91502499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.362320588 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:272.37, Y:8.84, Z:1.95 [[ 9.72526999e-01 -2.31995094e-01 -1.92226861e-02 2.72368264e+02] [ 2.31938865e-01 9.72716808e-01 -5.13556948e-03 8.84285512e+00] [ 1.98896568e-02 5.35991990e-04 9.99802038e-01 1.94778052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.43, Y:8.86, Z:1.94 [[ 9.71402145e-01 -2.36660893e-01 -1.92222501e-02 2.72426504e+02] [ 2.36605543e-01 9.71592212e-01 -5.13720086e-03 8.85749343e+00] [ 1.98919630e-02 4.42197027e-04 9.99802038e-01 1.93930518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.48, Y:8.87, Z:1.92 [[ 9.66863384e-01 -2.54569672e-01 -1.92218581e-02 2.72484756e+02] [ 2.54517814e-01 9.67054433e-01 -5.13866715e-03 8.87387508e+00] [ 1.98967319e-02 7.60838041e-05 9.99802038e-01 1.91902904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54232058799994 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:272.54, Y:8.90, Z:1.94 [[ 9.72855899e-01 -2.30612079e-01 -1.92215916e-02 2.72540709e+02] [ 2.30555499e-01 9.73045603e-01 -5.13966363e-03 8.89595608e+00] [ 1.98887537e-02 5.68508425e-04 9.99802038e-01 1.94209084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60232058799994 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:272.60, Y:8.91, Z:1.94 [[ 9.72810040e-01 -2.30805521e-01 -1.92207458e-02 2.72598374e+02] [ 2.30748916e-01 9.72999737e-01 -5.14282496e-03 8.90964861e+00] [ 1.98887730e-02 5.67825502e-04 9.99802038e-01 1.94135931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66232058799994 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:272.65, Y:8.93, Z:1.95 [[ 9.75682189e-01 -2.18345699e-01 -1.92203412e-02 2.72653925e+02] [ 2.18286643e-01 9.75871138e-01 -5.14433651e-03 8.93141535e+00] [ 1.98798200e-02 8.23693748e-04 9.99802038e-01 1.95463115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72232058799995 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:272.71, Y:8.95, Z:1.95 [[ 9.76849541e-01 -2.13062346e-01 -1.92200709e-02 2.72709812e+02] [ 2.13002249e-01 9.77038161e-01 -5.14534633e-03 8.95001014e+00] [ 1.98750223e-02 9.32310879e-04 9.99802038e-01 1.95331408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:272.77, Y:8.97, Z:1.93 [[ 9.71292054e-01 -2.37112650e-01 -1.92181198e-02 2.72766899e+02] [ 2.37057083e-01 9.71482058e-01 -5.15262336e-03 8.96681006e+00] [ 1.98918108e-02 4.48910707e-04 9.99802038e-01 1.92864736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.82, Y:8.99, Z:1.93 [[ 9.71393181e-01 -2.36698048e-01 -1.92177315e-02 2.72822134e+02] [ 2.36642372e-01 9.71583153e-01 -5.15407125e-03 8.98551367e+00] [ 1.98915828e-02 4.58900107e-04 9.99802038e-01 1.92787269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.88, Y:9.00, Z:1.95 [[ 9.74857781e-01 -2.21997902e-01 -1.92155765e-02 2.72878293e+02] [ 2.21939205e-01 9.75046841e-01 -5.16209305e-03 9.00097381e+00] [ 1.98820610e-02 7.67616803e-04 9.99802038e-01 1.94618942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96232058799995 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:9.02, Z:1.96 [[ 9.76294147e-01 -2.15593418e-01 -1.92150317e-02 2.72935251e+02] [ 2.15533440e-01 9.76482805e-01 -5.16412024e-03 9.01694926e+00] [ 1.98764984e-02 9.00218476e-04 9.99802038e-01 1.95670766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:272.99, Y:9.03, Z:1.94 [[ 9.71296241e-01 -2.37095770e-01 -1.92147754e-02 2.72993398e+02] [ 2.37039954e-01 9.71486172e-01 -5.16507350e-03 9.03288281e+00] [ 1.98915057e-02 4.62146983e-04 9.99802038e-01 1.93525797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.05, Y:9.05, Z:1.94 [[ 9.71026974e-01 -2.38196183e-01 -1.92144009e-02 2.73050034e+02] [ 2.38140555e-01 9.71216960e-01 -5.16646652e-03 9.04843528e+00] [ 1.98919846e-02 4.41050270e-04 9.99802038e-01 1.93508008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14232058799996 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:273.11, Y:9.06, Z:1.96 [[ 9.75408185e-01 -2.19567217e-01 -1.92122415e-02 2.73108370e+02] [ 2.19507805e-01 9.75597022e-01 -5.17448400e-03 9.06082122e+00] [ 1.98795527e-02 8.29997089e-04 9.99802038e-01 1.96187681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20232058799996 meters Centerline goodness : 0.994048 with order 1 Centerline is valid? [True, True] Translation: X:273.17, Y:9.08, Z:1.97 [[ 9.76440881e-01 -2.14928209e-01 -1.92112013e-02 2.73165117e+02] [ 2.14867824e-01 9.76629409e-01 -5.17834325e-03 9.08129348e+00] [ 1.98751962e-02 9.28477036e-04 9.99802038e-01 1.97111309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26232058799997 meters Centerline goodness : 0.992694 with order 1 Centerline is valid? [True, True] Translation: X:273.22, Y:9.09, Z:1.97 [[ 9.75553290e-01 -2.18921727e-01 -1.92108037e-02 2.73223616e+02] [ 2.18862085e-01 9.75742055e-01 -5.17981772e-03 9.09158907e+00] [ 1.98787637e-02 8.48671671e-04 9.99802038e-01 1.97200503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:273.28, Y:9.10, Z:1.94 [[ 9.67218023e-01 -2.53219896e-01 -1.92088538e-02 2.73283370e+02] [ 2.53166811e-01 9.67408735e-01 -5.18703865e-03 9.09943110e+00] [ 1.98962744e-02 1.53953012e-04 9.99802038e-01 1.94105858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38232058799997 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:273.34, Y:9.11, Z:1.96 [[ 9.69641866e-01 -2.43773846e-01 -1.92084250e-02 2.73342464e+02] [ 2.43718871e-01 9.69832042e-01 -5.18862626e-03 9.10613034e+00] [ 1.98937974e-02 3.49653603e-04 9.99802038e-01 1.95800712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442320588 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:273.40, Y:9.12, Z:1.96 [[ 9.69893036e-01 -2.42772639e-01 -1.92079516e-02 2.73400354e+02] [ 2.42717434e-01 9.70083145e-01 -5.19037802e-03 9.12069441e+00] [ 1.98933919e-02 3.72006776e-04 9.99802038e-01 1.96396960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:273.46, Y:9.13, Z:1.96 [[ 9.67679896e-01 -2.51449262e-01 -1.92064669e-02 2.73459306e+02] [ 2.51395652e-01 9.67870461e-01 -5.19586636e-03 9.13081210e+00] [ 1.98958687e-02 1.99513157e-04 9.99802038e-01 1.95872304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562320588 meters Centerline goodness : 0.994887 with order 1 Centerline is valid? [True, True] Translation: X:273.52, Y:9.15, Z:1.98 [[ 9.72466799e-01 -2.32248715e-01 -1.92056962e-02 2.73516448e+02] [ 2.32191288e-01 9.72656249e-01 -5.19871331e-03 9.14736751e+00] [ 1.98879349e-02 5.96180740e-04 9.99802038e-01 1.98342782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622320588 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:273.57, Y:9.16, Z:1.98 [[ 9.72182612e-01 -2.33435493e-01 -1.92051759e-02 2.73574320e+02] [ 2.33378260e-01 9.72372121e-01 -5.20063483e-03 9.16138936e+00] [ 1.98885904e-02 5.73896220e-04 9.99802038e-01 1.97643766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682320588 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:273.63, Y:9.18, Z:1.98 [[ 9.74332464e-01 -2.24293171e-01 -1.92047418e-02 2.73630962e+02] [ 2.24234129e-01 9.74521417e-01 -5.20223728e-03 9.18240492e+00] [ 1.98822585e-02 7.62350118e-04 9.99802038e-01 1.97792765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742320588 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:273.69, Y:9.20, Z:1.97 [[ 9.73963744e-01 -2.25889054e-01 -1.92031455e-02 2.73689846e+02] [ 2.25830206e-01 9.74152757e-01 -5.20812300e-03 9.19552770e+00] [ 1.98832551e-02 7.35872670e-04 9.99802038e-01 1.97371738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.802320588 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:273.75, Y:9.22, Z:1.98 [[ 9.75511314e-01 -2.19109379e-01 -1.92030138e-02 2.73746832e+02] [ 2.19049207e-01 9.75699910e-01 -5.20860856e-03 9.21549671e+00] [ 1.98776339e-02 8.74651627e-04 9.99802038e-01 1.97868508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.862320588 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:273.80, Y:9.23, Z:1.98 [[ 9.76088237e-01 -2.16524962e-01 -1.92014288e-02 2.73804034e+02] [ 2.16464177e-01 9.76276636e-01 -5.21444534e-03 9.23315721e+00] [ 1.98749639e-02 9.33337287e-04 9.99802038e-01 1.97794710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.922320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:273.86, Y:9.25, Z:1.97 [[ 9.75282937e-01 -2.20123849e-01 -1.92011438e-02 2.73861149e+02] [ 2.20063738e-01 9.75471553e-01 -5.21549457e-03 9.25024839e+00] [ 1.98782243e-02 8.61107389e-04 9.99802038e-01 1.96851456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982320588 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:273.92, Y:9.27, Z:1.97 [[ 9.76405740e-01 -2.15088737e-01 -1.92007043e-02 2.73916725e+02] [ 2.15027622e-01 9.76594032e-01 -5.21711186e-03 9.27137461e+00] [ 1.98734353e-02 9.65336169e-04 9.99802038e-01 1.96761750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04232058799994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:273.97, Y:9.29, Z:1.97 [[ 9.77286770e-01 -2.11049701e-01 -1.91987503e-02 2.73973461e+02] [ 2.10987668e-01 9.77474762e-01 -5.22429255e-03 9.28882422e+00] [ 1.98688793e-02 1.05493243e-03 9.99802038e-01 1.97140577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10232058799994 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:274.03, Y:9.31, Z:1.98 [[ 9.78787369e-01 -2.03977369e-01 -1.91968284e-02 2.74028101e+02] [ 2.03913840e-01 9.78974861e-01 -5.23134537e-03 9.31418893e+00] [ 1.98602885e-02 1.20587578e-03 9.99802038e-01 1.97841225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.09, Y:9.33, Z:1.98 [[ 9.78245586e-01 -2.06560107e-01 -1.91962286e-02 2.74086120e+02] [ 2.06497030e-01 9.78433231e-01 -5.23354528e-03 9.32778493e+00] [ 1.98632696e-02 1.15572838e-03 9.99802038e-01 1.97592876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22232058799995 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:274.14, Y:9.35, Z:1.98 [[ 9.78146886e-01 -2.07027013e-01 -1.91959576e-02 2.74142129e+02] [ 2.06964007e-01 9.78334554e-01 -5.23453923e-03 9.34763995e+00] [ 1.98637596e-02 1.14727596e-03 9.99802038e-01 1.97545563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28232058799995 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:274.20, Y:9.37, Z:1.98 [[ 9.78710045e-01 -2.04348329e-01 -1.91939850e-02 2.74198232e+02] [ 2.04284668e-01 9.78897491e-01 -5.24176236e-03 9.36653520e+00] [ 1.98600891e-02 1.20912863e-03 9.99802038e-01 1.97866784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:274.25, Y:9.39, Z:1.96 [[ 9.73346701e-01 -2.28534164e-01 -1.91920430e-02 2.74253290e+02] [ 2.28475027e-01 9.73535624e-01 -5.24886319e-03 9.39034282e+00] [ 1.98836821e-02 7.24061142e-04 9.99802038e-01 1.95995850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.31, Y:9.41, Z:1.96 [[ 9.72172833e-01 -2.33477331e-01 -1.91916379e-02 2.74309556e+02] [ 2.33419125e-01 9.72362045e-01 -5.25034397e-03 9.40737771e+00] [ 1.98870565e-02 6.24546456e-04 9.99802038e-01 1.96205340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46232058799995 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:274.37, Y:9.43, Z:1.98 [[ 9.77569105e-01 -2.09738909e-01 -1.91894283e-02 2.74365170e+02] [ 2.09675956e-01 9.77756791e-01 -5.25840737e-03 9.42797607e+00] [ 1.98654864e-02 1.11689486e-03 9.99802038e-01 1.98426681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52232058799996 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:274.42, Y:9.45, Z:1.99 [[ 9.77439848e-01 -2.10340582e-01 -1.91880752e-02 2.74422464e+02] [ 2.10277648e-01 9.77627540e-01 -5.26334002e-03 9.44515651e+00] [ 1.98658848e-02 1.10977494e-03 9.99802038e-01 1.99219143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58232058799996 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:274.48, Y:9.45, Z:1.98 [[ 9.74327247e-01 -2.24317282e-01 -1.91878110e-02 2.74482436e+02] [ 2.24257023e-01 9.74515815e-01 -5.26430302e-03 9.45498732e+00] [ 1.98796995e-02 8.26152488e-04 9.99802038e-01 1.98125352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.54, Y:9.47, Z:1.97 [[ 9.67450717e-01 -2.52331061e-01 -1.91871399e-02 2.74539953e+02] [ 2.52276219e-01 9.67640931e-01 -5.26674804e-03 9.46915995e+00] [ 1.98952260e-02 2.54860069e-04 9.99802038e-01 1.96686644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70232058799996 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:274.60, Y:9.48, Z:1.97 [[ 9.66318679e-01 -2.56632301e-01 -1.91852336e-02 2.74597625e+02] [ 2.56578168e-01 9.66509096e-01 -5.27368309e-03 9.48063531e+00] [ 1.98961002e-02 1.73546397e-04 9.99802038e-01 1.96941908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.66, Y:9.49, Z:1.97 [[ 9.64343646e-01 -2.63957089e-01 -1.91830250e-02 2.74655691e+02] [ 2.63904243e-01 9.64534424e-01 -5.28170436e-03 9.49194042e+00] [ 1.98968313e-02 3.08963337e-05 9.99802038e-01 1.96696948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.71, Y:9.50, Z:1.96 [[ 9.62437747e-01 -2.70824056e-01 -1.91810885e-02 2.74713260e+02] [ 2.70772431e-01 9.62628859e-01 -5.28872790e-03 9.50159458e+00] [ 1.98965841e-02 -1.03638596e-04 9.99802038e-01 1.96434663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.77, Y:9.51, Z:1.97 [[ 9.60857881e-01 -2.76377102e-01 -1.91788797e-02 2.74771837e+02] [ 2.76326422e-01 9.61049246e-01 -5.29672563e-03 9.50909493e+00] [ 1.98957416e-02 -2.10230641e-04 9.99802038e-01 1.96802943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942320588 meters Centerline goodness : 0.997833 with order 1 Centerline is valid? [True, True] Translation: X:274.83, Y:9.53, Z:2.00 [[ 9.69657436e-01 -2.43714405e-01 -1.91766859e-02 2.74828796e+02] [ 2.43657123e-01 9.69846930e-01 -5.30465639e-03 9.52645243e+00] [ 1.98912711e-02 4.71163400e-04 9.99802038e-01 2.00375518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002320588 meters Centerline goodness : 0.997365 with order 1 Centerline is valid? [True, True] Translation: X:274.89, Y:9.53, Z:2.01 [[ 9.69667039e-01 -2.43676243e-01 -1.91760888e-02 2.74887226e+02] [ 2.43618911e-01 9.69856517e-01 -5.30681405e-03 9.53473416e+00] [ 1.98911992e-02 4.74184796e-04 9.99802038e-01 2.00629562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.95, Y:9.54, Z:1.97 [[ 9.59782826e-01 -2.80088008e-01 -1.91737947e-02 2.74947742e+02] [ 2.80037701e-01 9.59974289e-01 -5.31508973e-03 9.54327880e+00] [ 1.98950428e-02 -2.68053539e-04 9.99802038e-01 1.97153455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:275.01, Y:9.56, Z:1.97 [[ 9.61366637e-01 -2.74602632e-01 -1.91724668e-02 2.75005409e+02] [ 2.74551137e-01 9.61557784e-01 -5.31987558e-03 9.55507590e+00] [ 1.98962865e-02 -1.49471657e-04 9.99802038e-01 1.97436195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182320588 meters Centerline goodness : 0.996630 with order 1 Centerline is valid? [True, True] Translation: X:275.06, Y:9.58, Z:2.01 [[ 9.72652991e-01 -2.31470644e-01 -1.91702705e-02 2.75060573e+02] [ 2.31410523e-01 9.72841603e-01 -5.32777820e-03 9.57609155e+00] [ 1.98828609e-02 7.45877080e-04 9.99802038e-01 2.00784038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242320588 meters Centerline goodness : 0.997857 with order 1 Centerline is valid? [True, True] Translation: X:275.12, Y:9.59, Z:2.01 [[ 9.73647988e-01 -2.27249024e-01 -1.91696624e-02 2.75119419e+02] [ 2.27188042e-01 9.73836323e-01 -5.32996535e-03 9.58878117e+00] [ 1.98793429e-02 8.34391981e-04 9.99802038e-01 2.01065428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.302320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:275.18, Y:9.60, Z:1.98 [[ 9.65374772e-01 -2.60161639e-01 -1.91695122e-02 2.75179405e+02] [ 2.60107074e-01 9.65565066e-01 -5.33050531e-03 9.59831579e+00] [ 1.98962043e-02 1.59809625e-04 9.99802038e-01 1.97798705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.24, Y:9.61, Z:1.98 [[ 9.64866147e-01 -2.62041716e-01 -1.91691752e-02 2.75236871e+02] [ 2.61987497e-01 9.65056539e-01 -5.33171680e-03 9.61027638e+00] [ 1.98964701e-02 1.22308807e-04 9.99802038e-01 1.98049286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422320588 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:275.29, Y:9.63, Z:1.98 [[ 9.65050638e-01 -2.61361615e-01 -1.91669425e-02 2.75293055e+02] [ 2.61307102e-01 9.65240947e-01 -5.33973134e-03 9.62745052e+00] [ 1.98963185e-02 1.44652943e-04 9.99802038e-01 1.98156454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.35, Y:9.64, Z:1.98 [[ 9.64696353e-01 -2.62666444e-01 -1.91647088e-02 2.75349769e+02] [ 2.62612030e-01 9.64886689e-01 -5.34773618e-03 9.64302044e+00] [ 1.98964433e-02 1.26058500e-04 9.99802038e-01 1.98178912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:275.41, Y:9.66, Z:1.99 [[ 9.64665431e-01 -2.62780148e-01 -1.91624640e-02 2.75405375e+02] [ 2.62725597e-01 9.64855728e-01 -5.35576781e-03 9.65977172e+00] [ 1.98964026e-02 1.32054269e-04 9.99802038e-01 1.98590675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:275.46, Y:9.67, Z:1.99 [[ 9.66871857e-01 -2.54542133e-01 -1.91602236e-02 2.75462314e+02] [ 2.54485802e-01 9.67061635e-01 -5.36377078e-03 9.67148497e+00] [ 1.98944229e-02 3.10074133e-04 9.99802038e-01 1.99147305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.52, Y:9.69, Z:1.99 [[ 9.65464844e-01 -2.59828036e-01 -1.91579656e-02 2.75517826e+02] [ 2.59772585e-01 9.65654880e-01 -5.37182391e-03 9.69014148e+00] [ 1.98957334e-02 2.09592898e-04 9.99802038e-01 1.99151775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:275.57, Y:9.71, Z:1.99 [[ 9.64636994e-01 -2.62885005e-01 -1.91557668e-02 2.75573665e+02] [ 2.62830001e-01 9.64827161e-01 -5.37965328e-03 9.70648227e+00] [ 1.98962343e-02 1.54702369e-04 9.99802038e-01 1.99181784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.63, Y:9.72, Z:1.99 [[ 9.64427068e-01 -2.63654268e-01 -1.91535176e-02 2.75630912e+02] [ 2.63599256e-01 9.64617233e-01 -5.38764916e-03 9.71983964e+00] [ 1.98962899e-02 1.47141689e-04 9.99802038e-01 1.99344457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.69, Y:9.74, Z:2.00 [[ 9.64718393e-01 -2.62586463e-01 -1.91512668e-02 2.75687518e+02] [ 2.62531082e-01 9.64908451e-01 -5.39563829e-03 9.73500539e+00] [ 1.98960408e-02 1.77468699e-04 9.99802038e-01 1.99539191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:9.75, Z:1.99 [[ 9.65168358e-01 -2.60927874e-01 -1.91490135e-02 2.75742854e+02] [ 2.60872008e-01 9.65358274e-01 -5.40362356e-03 9.75490962e+00] [ 1.98956146e-02 2.19964884e-04 9.99802038e-01 1.99394599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96232058799995 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:275.80, Y:9.77, Z:2.01 [[ 9.70281281e-01 -2.41221139e-01 -1.91467415e-02 2.75799832e+02] [ 2.41161259e-01 9.70469969e-01 -5.41166174e-03 9.77308882e+00] [ 1.98867449e-02 6.33381791e-04 9.99802039e-01 2.01473242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:275.86, Y:9.79, Z:2.01 [[ 9.69742549e-01 -2.43377916e-01 -1.91462231e-02 2.75857425e+02] [ 2.43318420e-01 9.69931359e-01 -5.41349529e-03 9.78807449e+00] [ 1.98880474e-02 5.91067959e-04 9.99802039e-01 2.01402821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08232058799996 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:275.92, Y:9.81, Z:2.00 [[ 9.65984856e-01 -2.57888916e-01 -1.91458615e-02 2.75915111e+02] [ 2.57832232e-01 9.66174529e-01 -5.41477382e-03 9.80596833e+00] [ 1.98946539e-02 2.94169294e-04 9.99802039e-01 1.99987490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14232058799996 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:275.97, Y:9.82, Z:2.02 [[ 9.69614454e-01 -2.43887807e-01 -1.91454331e-02 2.75972148e+02] [ 2.43828355e-01 9.69803278e-01 -5.41628831e-03 9.82375924e+00] [ 1.98882704e-02 5.83511988e-04 9.99802039e-01 2.01580661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20232058799996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:276.03, Y:9.84, Z:2.02 [[ 9.69353539e-01 -2.44922916e-01 -1.91437270e-02 2.76028944e+02] [ 2.44863547e-01 9.69542388e-01 -5.42231152e-03 9.84029323e+00] [ 1.98887032e-02 5.68535961e-04 9.99802039e-01 2.01721010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:276.09, Y:9.85, Z:2.01 [[ 9.67766610e-01 -2.51120255e-01 -1.91417502e-02 2.76087170e+02] [ 2.51061957e-01 9.67955793e-01 -5.42928119e-03 9.85357653e+00] [ 1.98917705e-02 4.48511783e-04 9.99802039e-01 2.01248848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:276.15, Y:9.87, Z:2.01 [[ 9.65974258e-01 -2.57928942e-01 -1.91414311e-02 2.76145255e+02] [ 2.57871956e-01 9.66163840e-01 -5.43040609e-03 9.86654563e+00] [ 1.98944174e-02 3.09594230e-04 9.99802039e-01 2.00839659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.20, Y:9.88, Z:2.00 [[ 9.64357340e-01 -2.63910104e-01 -1.91410123e-02 2.76201465e+02] [ 2.63854265e-01 9.64547263e-01 -5.43188185e-03 9.88387552e+00] [ 1.98959395e-02 1.87837413e-04 9.99802039e-01 2.00348166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442320588 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:276.26, Y:9.90, Z:2.03 [[ 9.70157472e-01 -2.41719218e-01 -1.91389309e-02 2.76257948e+02] [ 2.41658892e-01 9.70346018e-01 -5.43920568e-03 9.90173277e+00] [ 1.98861459e-02 6.51793209e-04 9.99802039e-01 2.02833176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502320588 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:276.32, Y:9.92, Z:2.03 [[ 9.70902748e-01 -2.38708122e-01 -1.91386086e-02 2.76315254e+02] [ 2.38647189e-01 9.71091099e-01 -5.44033933e-03 9.91904464e+00] [ 1.98839857e-02 7.14665246e-04 9.99802039e-01 2.03404210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562320588 meters Centerline goodness : 0.998224 with order 1 Centerline is valid? [True, True] Translation: X:276.37, Y:9.94, Z:2.04 [[ 9.71644054e-01 -2.35672666e-01 -1.91370508e-02 2.76370921e+02] [ 2.35611037e-01 9.71832178e-01 -5.44581365e-03 9.93770723e+00] [ 1.98814312e-02 7.82492065e-04 9.99802039e-01 2.03632526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:276.43, Y:9.95, Z:2.02 [[ 9.69262210e-01 -2.45284660e-01 -1.91364698e-02 2.76428656e+02] [ 2.45224857e-01 9.69450922e-01 -5.44785438e-03 9.95329935e+00] [ 1.98881434e-02 5.87661293e-04 9.99802039e-01 2.01858986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682320588 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:276.49, Y:9.97, Z:2.03 [[ 9.71351446e-01 -2.36875916e-01 -1.91355180e-02 2.76485993e+02] [ 2.36814414e-01 9.71539612e-01 -5.45119548e-03 9.97059332e+00] [ 1.98821707e-02 7.63460120e-04 9.99802039e-01 2.02701194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742320588 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:276.54, Y:9.99, Z:2.03 [[ 9.72285382e-01 -2.33012935e-01 -1.91339482e-02 2.76541318e+02] [ 2.32950578e-01 9.72473266e-01 -5.45670006e-03 9.99107743e+00] [ 1.98787348e-02 8.48205406e-04 9.99802039e-01 2.02796700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.60, Y:10.00, Z:2.01 [[ 9.66988540e-01 -2.54100527e-01 -1.91333758e-02 2.76600184e+02] [ 2.54042231e-01 9.67177723e-01 -5.45870652e-03 1.00028834e+01] [ 1.98924350e-02 4.17821181e-04 9.99802039e-01 2.01302834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862320588 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:276.66, Y:10.02, Z:2.03 [[ 9.71904120e-01 -2.34598195e-01 -1.91329011e-02 2.76657184e+02] [ 2.34536072e-01 9.72092082e-01 -5.46036974e-03 1.00200117e+01] [ 1.98799346e-02 8.19600375e-04 9.99802039e-01 2.03260018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922320588 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:276.71, Y:10.03, Z:2.03 [[ 9.71580691e-01 -2.35934182e-01 -1.91317360e-02 2.76714650e+02] [ 2.35872238e-01 9.71768711e-01 -5.46444888e-03 1.00343240e+01] [ 1.98808727e-02 7.96507636e-04 9.99802039e-01 2.02961294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98232058799994 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:276.77, Y:10.05, Z:2.04 [[ 9.72076374e-01 -2.33883547e-01 -1.91313638e-02 2.76771727e+02] [ 2.33821181e-01 9.72264255e-01 -5.46575187e-03 1.00498759e+01] [ 1.98790906e-02 8.39810200e-04 9.99802039e-01 2.03522483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.83, Y:10.07, Z:2.02 [[ 9.67324544e-01 -2.52818585e-01 -1.91308373e-02 2.76828194e+02] [ 2.52759862e-01 9.67513595e-01 -5.46759407e-03 1.00673942e+01] [ 1.98916545e-02 4.53430156e-04 9.99802039e-01 2.01646597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10232058799994 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:276.88, Y:10.09, Z:2.04 [[ 9.73497694e-01 -2.27895304e-01 -1.91303560e-02 2.76884213e+02] [ 2.27831713e-01 9.73685163e-01 -5.46927753e-03 1.00874658e+01] [ 1.98733664e-02 9.65827292e-04 9.99802039e-01 2.03535308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16232058799994 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:276.94, Y:10.11, Z:2.04 [[ 9.74117145e-01 -2.25232924e-01 -1.91289597e-02 2.76940778e+02] [ 2.25168725e-01 9.74304408e-01 -5.47415674e-03 1.01057109e+01] [ 1.98703901e-02 1.02522647e-03 9.99802039e-01 2.03917469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:277.00, Y:10.13, Z:2.04 [[ 9.74681184e-01 -2.22779597e-01 -1.91269344e-02 2.76996589e+02] [ 2.22714789e-01 9.74868237e-01 -5.48122404e-03 1.01259258e+01] [ 1.98673457e-02 1.08259478e-03 9.99802039e-01 2.03749342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28232058799995 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:277.05, Y:10.15, Z:2.04 [[ 9.74939072e-01 -2.21648468e-01 -1.91249004e-02 2.77051035e+02] [ 2.21583304e-01 9.75126001e-01 -5.48831197e-03 1.01459361e+01] [ 1.98656636e-02 1.11301116e-03 9.99802039e-01 2.03932145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.11, Y:10.16, Z:2.03 [[ 9.70133036e-01 -2.41818571e-01 -1.91225426e-02 2.77108458e+02] [ 2.41757136e-01 9.70321223e-01 -5.49651482e-03 1.01603274e+01] [ 1.98841682e-02 7.09339490e-04 9.99802039e-01 2.02544715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40232058799995 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:277.16, Y:10.18, Z:2.04 [[ 9.74374270e-01 -2.24118553e-01 -1.91221594e-02 2.77164652e+02] [ 2.24053676e-01 9.74561298e-01 -5.49784748e-03 1.01788147e+01] [ 1.98678861e-02 1.07257101e-03 9.99802039e-01 2.04294493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.22, Y:10.20, Z:2.04 [[ 9.73112817e-01 -2.29533873e-01 -1.91218637e-02 2.77222381e+02] [ 2.29470017e-01 9.73300197e-01 -5.49887577e-03 1.01952296e+01] [ 1.98734920e-02 9.63132098e-04 9.99802039e-01 2.03967013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:277.28, Y:10.21, Z:2.04 [[ 9.73118096e-01 -2.29511518e-01 -1.91215717e-02 2.77279100e+02] [ 2.29447638e-01 9.73305467e-01 -5.49989099e-03 1.02091120e+01] [ 1.98734186e-02 9.64643981e-04 9.99802039e-01 2.04406658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58232058799996 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:277.34, Y:10.23, Z:2.05 [[ 9.73544414e-01 -2.27696572e-01 -1.91192398e-02 2.77336325e+02] [ 2.27632184e-01 9.73731611e-01 -5.50798549e-03 1.02275455e+01] [ 1.98711576e-02 1.01011419e-03 9.99802039e-01 2.04560071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.40, Y:10.24, Z:2.03 [[ 9.68091569e-01 -2.49866339e-01 -1.91187642e-02 2.77395682e+02] [ 2.49806210e-01 9.68280177e-01 -5.50963570e-03 1.02396171e+01] [ 1.98889929e-02 5.57845850e-04 9.99802039e-01 2.02832973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.45, Y:10.25, Z:2.03 [[ 9.66362975e-01 -2.56470497e-01 -1.91176435e-02 2.77452824e+02] [ 2.56411580e-01 9.66551966e-01 -5.51352178e-03 1.02507859e+01] [ 1.98922516e-02 4.26078139e-04 9.99802039e-01 2.03084440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76232058799997 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:277.51, Y:10.26, Z:2.05 [[ 9.70415910e-01 -2.40681463e-01 -1.91153225e-02 2.77511005e+02] [ 2.40619315e-01 9.70603862e-01 -5.52155698e-03 1.02649294e+01] [ 1.98823422e-02 7.58690942e-04 9.99802039e-01 2.04859634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.57, Y:10.27, Z:2.03 [[ 9.63564153e-01 -2.66793448e-01 -1.91149207e-02 2.77570741e+02] [ 2.66736369e-01 9.63753706e-01 -5.52294758e-03 1.02747271e+01] [ 1.98955619e-02 2.23069766e-04 9.99802039e-01 2.02907233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88232058799997 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:277.63, Y:10.28, Z:2.05 [[ 9.67306874e-01 -2.52887422e-01 -1.91144854e-02 2.77630052e+02] [ 2.52827589e-01 9.67495577e-01 -5.52445373e-03 1.02846158e+01] [ 1.98902449e-02 5.11172806e-04 9.99802039e-01 2.04720838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942320588 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:277.69, Y:10.30, Z:2.05 [[ 9.67292779e-01 -2.52941372e-01 -1.91139145e-02 2.77687664e+02] [ 2.52881510e-01 9.67481473e-01 -5.52642820e-03 1.02982607e+01] [ 1.98902205e-02 5.12118525e-04 9.99802039e-01 2.05019451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:277.74, Y:10.32, Z:2.05 [[ 9.69233983e-01 -2.45398091e-01 -1.91118883e-02 2.77744400e+02] [ 2.45336623e-01 9.69422159e-01 -5.53342640e-03 1.03156135e+01] [ 1.98853803e-02 6.74338762e-04 9.99802039e-01 2.05459903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.80, Y:10.33, Z:2.05 [[ 9.69282747e-01 -2.45205437e-01 -1.91115200e-02 2.77801793e+02] [ 2.45143908e-01 9.69470903e-01 -5.53469837e-03 1.03305129e+01] [ 1.98852007e-02 6.79614949e-04 9.99802039e-01 2.05240464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.86, Y:10.35, Z:2.03 [[ 9.64794140e-01 -2.62310951e-01 -1.91110840e-02 2.77859084e+02] [ 2.62252729e-01 9.64983345e-01 -5.53620341e-03 1.03493068e+01] [ 1.98940845e-02 3.29362684e-04 9.99802039e-01 2.03230786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:277.92, Y:10.37, Z:2.05 [[ 9.69909175e-01 -2.42715816e-01 -1.91108599e-02 2.77915609e+02] [ 2.42653759e-01 9.70097158e-01 -5.53697679e-03 1.03672604e+01] [ 1.98833027e-02 7.33042600e-04 9.99802039e-01 2.05448919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:277.97, Y:10.38, Z:2.05 [[ 9.69417521e-01 -2.44672256e-01 -1.91090771e-02 2.77972777e+02] [ 2.44610457e-01 9.69605589e-01 -5.54312288e-03 1.03834199e+01] [ 1.98845163e-02 6.99320370e-04 9.99802039e-01 2.05217008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.03, Y:10.40, Z:2.04 [[ 9.65607635e-01 -2.59300629e-01 -1.91070448e-02 2.78030693e+02] [ 2.59241542e-01 9.65796572e-01 -5.55011930e-03 1.03999705e+01] [ 1.98926678e-02 4.05897819e-04 9.99802039e-01 2.03688559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.09, Y:10.42, Z:2.04 [[ 9.65966912e-01 -2.57959019e-01 -1.91067894e-02 2.78086343e+02] [ 2.57899652e-01 9.66155762e-01 -5.55099835e-03 1.04192708e+01] [ 1.98920647e-02 4.34446398e-04 9.99802039e-01 2.03757091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.14, Y:10.43, Z:2.04 [[ 9.66436562e-01 -2.56194051e-01 -1.91044471e-02 2.78143023e+02] [ 2.56134181e-01 9.66625252e-01 -5.55904810e-03 1.04345087e+01] [ 1.98910360e-02 4.79165438e-04 9.99802039e-01 2.03882925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.20, Y:10.45, Z:2.04 [[ 9.66433988e-01 -2.56203932e-01 -1.91021239e-02 2.78198814e+02] [ 2.56143906e-01 9.66622629e-01 -5.56701962e-03 1.04521733e+01] [ 1.98908375e-02 4.87264354e-04 9.99802039e-01 2.04169020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.26, Y:10.47, Z:2.04 [[ 9.66140409e-01 -2.57308975e-01 -1.90997927e-02 2.78255288e+02] [ 2.57249007e-01 9.66329068e-01 -5.57500609e-03 1.04693950e+01] [ 1.98911840e-02 4.72835942e-04 9.99802039e-01 2.04289308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60232058799994 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:278.31, Y:10.48, Z:2.05 [[ 9.67025802e-01 -2.53961361e-01 -1.90977549e-02 2.78312528e+02] [ 2.53900603e-01 9.67214209e-01 -5.58197827e-03 1.04800992e+01] [ 1.98892267e-02 5.48985546e-04 9.99802039e-01 2.04881516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:278.37, Y:10.50, Z:2.06 [[ 9.67709364e-01 -2.51344291e-01 -1.90954072e-02 2.78369401e+02] [ 2.51282864e-01 9.67897553e-01 -5.58999785e-03 1.04969861e+01] [ 1.98874120e-02 6.11144638e-04 9.99802039e-01 2.05551104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.43, Y:10.51, Z:2.05 [[ 9.65479692e-01 -2.59777608e-01 -1.90934025e-02 2.78425733e+02] [ 2.59717691e-01 9.65668368e-01 -5.59683673e-03 1.05149246e+01] [ 1.98918277e-02 4.44737787e-04 9.99802039e-01 2.04753090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.48, Y:10.53, Z:2.05 [[ 9.65428521e-01 -2.59967853e-01 -1.90915477e-02 2.78482161e+02] [ 2.59907848e-01 9.65617168e-01 -5.60315686e-03 1.05303223e+01] [ 1.98917668e-02 4.47404377e-04 9.99802039e-01 2.04827691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84232058799995 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:278.54, Y:10.55, Z:2.06 [[ 9.66928912e-01 -2.54330656e-01 -1.90892040e-02 2.78539462e+02] [ 2.54269394e-01 9.67117155e-01 -5.61113016e-03 1.05459672e+01] [ 1.98885790e-02 5.71763660e-04 9.99802039e-01 2.05752929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:278.60, Y:10.56, Z:2.06 [[ 9.68070103e-01 -2.49951910e-01 -1.90871488e-02 2.78595997e+02] [ 2.49889659e-01 9.68258021e-01 -5.61811238e-03 1.05637744e+01] [ 1.98855429e-02 6.69045513e-04 9.99802039e-01 2.06446022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96232058799995 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:278.65, Y:10.58, Z:2.07 [[ 9.67966325e-01 -2.50353526e-01 -1.90867775e-02 2.78651969e+02] [ 2.50291329e-01 9.68154261e-01 -5.61937350e-03 1.05817055e+01] [ 1.98857750e-02 6.62109413e-04 9.99802039e-01 2.06669968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:278.71, Y:10.60, Z:2.07 [[ 9.69112116e-01 -2.45881011e-01 -1.90849207e-02 2.78709066e+02] [ 2.45817823e-01 9.69299721e-01 -5.62567261e-03 1.05995787e+01] [ 1.98822544e-02 7.60493837e-04 9.99802039e-01 2.07429095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:278.77, Y:10.61, Z:2.06 [[ 9.65344597e-01 -2.60279842e-01 -1.90843481e-02 2.78768300e+02] [ 2.60219414e-01 9.65533110e-01 -5.62761444e-03 1.06121022e+01] [ 1.98913246e-02 4.66469308e-04 9.99802039e-01 2.06146819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14232058799996 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:278.82, Y:10.63, Z:2.07 [[ 9.66980914e-01 -2.54133368e-01 -1.90825309e-02 2.78823683e+02] [ 2.54071621e-01 9.67168999e-01 -5.63376952e-03 1.06324121e+01] [ 1.98877612e-02 5.99418037e-04 9.99802039e-01 2.06555930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.88, Y:10.65, Z:2.06 [[ 9.65750410e-01 -2.58770254e-01 -1.90814379e-02 2.78879613e+02] [ 2.58709338e-01 9.65938765e-01 -5.63746921e-03 1.06511031e+01] [ 1.98903099e-02 5.07842037e-04 9.99802039e-01 2.05742756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26232058799997 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:278.94, Y:10.67, Z:2.07 [[ 9.68567339e-01 -2.48018719e-01 -1.90794136e-02 2.78935791e+02] [ 2.47955578e-01 9.68754960e-01 -5.64431202e-03 1.06695181e+01] [ 1.98831716e-02 7.36049257e-04 9.99802039e-01 2.07468798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.99, Y:10.69, Z:2.07 [[ 9.66544796e-01 -2.55787311e-01 -1.90790101e-02 2.78993414e+02] [ 2.55725651e-01 9.66732909e-01 -5.64567542e-03 1.06870784e+01] [ 1.98883991e-02 5.77805902e-04 9.99802039e-01 2.06674026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38232058799997 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:279.05, Y:10.70, Z:2.07 [[ 9.65251608e-01 -2.60624891e-01 -1.90787871e-02 2.79051247e+02] [ 2.60564159e-01 9.65440022e-01 -5.64642914e-03 1.06993784e+01] [ 1.98910246e-02 4.78976696e-04 9.99802039e-01 2.06843115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.11, Y:10.72, Z:2.06 [[ 9.65224328e-01 -2.60726053e-01 -1.90767293e-02 2.79107297e+02] [ 2.60665204e-01 9.65412705e-01 -5.65337285e-03 1.07185934e+01] [ 1.98908984e-02 4.84133479e-04 9.99802039e-01 2.06408778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:279.16, Y:10.74, Z:2.08 [[ 9.67850667e-01 -2.50801187e-01 -1.90748588e-02 2.79163940e+02] [ 2.50738283e-01 9.68038368e-01 -5.65967709e-03 1.07376641e+01] [ 1.98846489e-02 6.94924914e-04 9.99802039e-01 2.07999202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.22, Y:10.76, Z:2.08 [[ 9.69224945e-01 -2.45436792e-01 -1.90731971e-02 2.79219799e+02] [ 2.45372739e-01 9.69412257e-01 -5.66527161e-03 1.07562534e+01] [ 1.98802571e-02 8.10879956e-04 9.99802039e-01 2.08161236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.28, Y:10.77, Z:2.08 [[ 9.69247209e-01 -2.45349014e-01 -1.90711661e-02 2.79276688e+02] [ 2.45284810e-01 9.69434469e-01 -5.67210031e-03 1.07721147e+01] [ 1.98798900e-02 8.19800056e-04 9.99802039e-01 2.08207011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:279.33, Y:10.79, Z:2.08 [[ 9.70765667e-01 -2.39270534e-01 -1.90691119e-02 2.79330819e+02] [ 2.39205022e-01 9.70952474e-01 -5.67899789e-03 1.07946376e+01] [ 1.98740182e-02 9.51548840e-04 9.99802039e-01 2.08386126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742320588 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:279.39, Y:10.81, Z:2.09 [[ 9.71143392e-01 -2.37732983e-01 -1.90667722e-02 2.79386326e+02] [ 2.37667022e-01 9.71330040e-01 -5.68684241e-03 1.08131766e+01] [ 1.98720786e-02 9.91196448e-04 9.99802039e-01 2.09001880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802320588 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:279.44, Y:10.83, Z:2.10 [[ 9.72173261e-01 -2.33485828e-01 -1.90661863e-02 2.79442638e+02] [ 2.33419014e-01 9.72359605e-01 -5.68880613e-03 1.08316115e+01] [ 1.98674450e-02 1.08009481e-03 9.99802039e-01 2.09621881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:279.50, Y:10.85, Z:2.09 [[ 9.69728445e-01 -2.43440422e-01 -1.90657888e-02 2.79499523e+02] [ 2.43375495e-01 9.69915455e-01 -5.69013797e-03 1.08493067e+01] [ 1.98774128e-02 8.77742851e-04 9.99802039e-01 2.08631407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922320588 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:279.56, Y:10.87, Z:2.09 [[ 9.70255875e-01 -2.41329758e-01 -1.90653017e-02 2.79556241e+02] [ 2.41264393e-01 9.70442732e-01 -5.69176955e-03 1.08675943e+01] [ 1.98753768e-02 9.22694401e-04 9.99802039e-01 2.09277781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98232058799994 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:279.61, Y:10.89, Z:2.09 [[ 9.70108865e-01 -2.41920094e-01 -1.90645843e-02 2.79612729e+02] [ 2.41854795e-01 9.70295746e-01 -5.69417157e-03 1.08862948e+01] [ 1.98758195e-02 9.13105188e-04 9.99802039e-01 2.09284860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04232058799994 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:279.67, Y:10.90, Z:2.10 [[ 9.70968753e-01 -2.38445598e-01 -1.90624876e-02 2.79668989e+02] [ 2.38379493e-01 9.71155350e-01 -5.70118201e-03 1.09034981e+01] [ 1.98720586e-02 9.91563453e-04 9.99802039e-01 2.09809186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10232058799994 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:279.73, Y:10.92, Z:2.09 [[ 9.70431364e-01 -2.40623500e-01 -1.90604030e-02 2.79725317e+02] [ 2.40557678e-01 9.70618061e-01 -5.70814285e-03 1.09217748e+01] [ 1.98738847e-02 9.54234576e-04 9.99802039e-01 2.09263145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.78, Y:10.94, Z:2.09 [[ 9.70888382e-01 -2.38772837e-01 -1.90599493e-02 2.79781812e+02] [ 2.38706630e-01 9.71074943e-01 -5.70965731e-03 1.09396886e+01] [ 1.98719503e-02 9.93703677e-04 9.99802039e-01 2.09140685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.84, Y:10.96, Z:2.09 [[ 9.71992264e-01 -2.34238850e-01 -1.90577771e-02 2.79835401e+02] [ 2.34171631e-01 9.72178463e-01 -5.71689849e-03 1.09620893e+01] [ 1.98666802e-02 1.09399035e-03 9.99802040e-01 2.09453455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.89, Y:10.98, Z:2.09 [[ 9.69536502e-01 -2.44204424e-01 -1.90570229e-02 2.79892698e+02] [ 2.44139070e-01 9.69723364e-01 -5.71941155e-03 1.09792659e+01] [ 1.98767460e-02 8.92614415e-04 9.99802040e-01 2.08749355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:279.95, Y:11.00, Z:2.09 [[ 9.69487831e-01 -2.44397600e-01 -1.90567310e-02 2.79948263e+02] [ 2.44332265e-01 9.69674699e-01 -5.72038404e-03 1.09967205e+01] [ 1.98768780e-02 8.89668467e-04 9.99802040e-01 2.09033016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40232058799995 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:280.00, Y:11.01, Z:2.10 [[ 9.72415387e-01 -2.32476335e-01 -1.90543509e-02 2.80004354e+02] [ 2.32408556e-01 9.72601383e-01 -5.72830120e-03 1.10135838e+01] [ 1.98639825e-02 1.14189406e-03 9.99802040e-01 2.10264655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.06, Y:11.03, Z:2.09 [[ 9.69209498e-01 -2.45499297e-01 -1.90537435e-02 2.80060430e+02] [ 2.45433979e-01 9.69396372e-01 -5.73032077e-03 1.10346442e+01] [ 1.98774195e-02 8.77445240e-04 9.99802040e-01 2.08949065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.11, Y:11.05, Z:2.09 [[ 9.69021221e-01 -2.46241423e-01 -1.90534497e-02 2.80114968e+02] [ 2.46176229e-01 9.69208139e-01 -5.73129748e-03 1.10548985e+01] [ 1.98780414e-02 8.63242489e-04 9.99802040e-01 2.09130962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.17, Y:11.08, Z:2.09 [[ 9.69208588e-01 -2.45503095e-01 -1.90510603e-02 2.80169401e+02] [ 2.45437603e-01 9.69395401e-01 -5.73922900e-03 1.10769577e+01] [ 1.98770087e-02 8.86663473e-04 9.99802040e-01 2.09147315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.22, Y:11.10, Z:2.09 [[ 9.69560369e-01 -2.44110300e-01 -1.90486667e-02 2.80224294e+02] [ 2.44044384e-01 9.69747033e-01 -5.74716242e-03 1.10970422e+01] [ 1.98753296e-02 9.23500780e-04 9.99802040e-01 2.09475704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.28, Y:11.12, Z:2.10 [[ 9.72373404e-01 -2.32652538e-01 -1.90462668e-02 2.80277958e+02] [ 2.32584269e-01 9.72559220e-01 -5.75510484e-03 1.11235968e+01] [ 1.98625621e-02 1.16624884e-03 9.99802040e-01 2.10343948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.33, Y:11.14, Z:2.10 [[ 9.68818100e-01 -2.47040100e-01 -1.90441334e-02 2.80334928e+02] [ 2.46974454e-01 9.69004859e-01 -5.76215576e-03 1.11410175e+01] [ 1.98773413e-02 8.79066339e-04 9.99802040e-01 2.09664118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.39, Y:11.16, Z:2.10 [[ 9.68862952e-01 -2.46864300e-01 -1.90420046e-02 2.80389086e+02] [ 2.46798483e-01 9.69049651e-01 -5.76918220e-03 1.11646434e+01] [ 1.98768530e-02 8.90009048e-04 9.99802040e-01 2.09646786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.44, Y:11.19, Z:2.10 [[ 9.69516362e-01 -2.44285731e-01 -1.90395898e-02 2.80443673e+02] [ 2.44219262e-01 9.69702829e-01 -5.77714058e-03 1.11859122e+01] [ 1.98740171e-02 9.51197753e-04 9.99802040e-01 2.09924312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.50, Y:11.21, Z:2.11 [[ 9.73763941e-01 -2.26762812e-01 -1.90371852e-02 2.80496927e+02] [ 2.26692837e-01 9.73949121e-01 -5.78505348e-03 1.12125257e+01] [ 1.98530848e-02 1.31768295e-03 9.99802040e-01 2.11174763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002320588 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:280.55, Y:11.23, Z:2.11 [[ 9.73948497e-01 -2.25969005e-01 -1.90350643e-02 2.80551209e+02] [ 2.25898744e-01 9.74133569e-01 -5.79202355e-03 1.12337661e+01] [ 1.98515130e-02 1.34113551e-03 9.99802040e-01 2.11490864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:280.60, Y:11.26, Z:2.12 [[ 9.74393815e-01 -2.24041181e-01 -1.90326610e-02 2.80604913e+02] [ 2.23970400e-01 9.74578689e-01 -5.79991033e-03 1.12597085e+01] [ 1.98482445e-02 1.38864406e-03 9.99802040e-01 2.11723100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.66, Y:11.28, Z:2.10 [[ 9.68627968e-01 -2.47785591e-01 -1.90305424e-02 2.80660320e+02] [ 2.47719213e-01 9.68814467e-01 -5.80685330e-03 1.12809188e+01] [ 1.98759194e-02 9.10449520e-04 9.99802040e-01 2.10354000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:280.71, Y:11.30, Z:2.11 [[ 9.70666703e-01 -2.39674927e-01 -1.90284150e-02 2.80714532e+02] [ 2.39606856e-01 9.70852591e-01 -5.81381633e-03 1.13036857e+01] [ 1.98672120e-02 1.08393924e-03 9.99802040e-01 2.11391673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:280.77, Y:11.32, Z:2.11 [[ 9.69239327e-01 -2.45383636e-01 -1.90262671e-02 2.80770037e+02] [ 2.45316522e-01 9.69425563e-01 -5.82083696e-03 1.13223913e+01] [ 1.98728879e-02 9.74326413e-04 9.99802040e-01 2.11460916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.83, Y:11.35, Z:2.11 [[ 9.65555255e-01 -2.59501722e-01 -1.90238142e-02 2.80825297e+02] [ 2.59437175e-01 9.65742397e-01 -5.82884252e-03 1.13457658e+01] [ 1.98846986e-02 6.92584900e-04 9.99802040e-01 2.10808412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.88, Y:11.37, Z:2.11 [[ 9.63901189e-01 -2.65579881e-01 -1.90216894e-02 2.80881023e+02] [ 2.65516378e-01 9.64088687e-01 -5.83576848e-03 1.13661699e+01] [ 1.98884583e-02 5.74534097e-04 9.99802040e-01 2.10838974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.94, Y:11.38, Z:2.12 [[ 9.66873237e-01 -2.54547442e-01 -1.90195421e-02 2.80936951e+02] [ 2.54481663e-01 9.67059949e-01 -5.84275848e-03 1.13838047e+01] [ 1.98802966e-02 8.09082104e-04 9.99802040e-01 2.12187637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.99, Y:11.40, Z:2.11 [[ 9.62426140e-01 -2.70876842e-01 -1.90173864e-02 2.80993204e+02] [ 2.70814095e-01 9.62613893e-01 -5.84976640e-03 1.14014925e+01] [ 1.98909666e-02 4.79791809e-04 9.99802040e-01 2.10955575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.05, Y:11.42, Z:2.11 [[ 9.62192039e-01 -2.71707378e-01 -1.90152673e-02 2.81049211e+02] [ 2.71644657e-01 9.62379800e-01 -5.85664675e-03 1.14177106e+01] [ 1.98912033e-02 4.69823108e-04 9.99802040e-01 2.11080043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.11, Y:11.43, Z:2.11 [[ 9.61593240e-01 -2.73819198e-01 -1.90128120e-02 2.81106926e+02] [ 2.73756732e-01 9.61781086e-01 -5.86460692e-03 1.14319110e+01] [ 1.98920049e-02 4.34481096e-04 9.99802040e-01 2.11082413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.16, Y:11.45, Z:2.11 [[ 9.60962117e-01 -2.76026095e-01 -1.90106641e-02 2.81163760e+02] [ 2.75963923e-01 9.61150060e-01 -5.87156116e-03 1.14462772e+01] [ 1.98928050e-02 3.96090404e-04 9.99802040e-01 2.11245257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.22, Y:11.46, Z:2.11 [[ 9.59509283e-01 -2.81034916e-01 -1.90081976e-02 2.81222202e+02] [ 2.80973567e-01 9.59697497e-01 -5.87953533e-03 1.14567621e+01] [ 1.98944743e-02 3.00667656e-04 9.99802040e-01 2.11446169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.28, Y:11.47, Z:2.12 [[ 9.58389331e-01 -2.84830933e-01 -1.90060421e-02 2.81279760e+02] [ 2.84770192e-01 9.58577742e-01 -5.88649478e-03 1.14692290e+01] [ 1.98954247e-02 2.29199532e-04 9.99802040e-01 2.11548875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.34, Y:11.48, Z:2.12 [[ 9.57680770e-01 -2.87204469e-01 -1.90035742e-02 2.81336832e+02] [ 2.87144037e-01 9.57869280e-01 -5.89445108e-03 1.14806718e+01] [ 1.98958527e-02 1.88239418e-04 9.99802040e-01 2.11925264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.39, Y:11.49, Z:2.12 [[ 9.57702921e-01 -2.87130760e-01 -1.90010972e-02 2.81393947e+02] [ 2.87070155e-01 9.57891376e-01 -5.90242519e-03 1.14919591e+01] [ 1.98957550e-02 1.98121925e-04 9.99802040e-01 2.11794175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.45, Y:11.50, Z:2.12 [[ 9.58208192e-01 -2.85440209e-01 -1.89986276e-02 2.81451893e+02] [ 2.85379114e-01 9.58396488e-01 -5.91036356e-03 1.15013923e+01] [ 1.98952734e-02 2.41547264e-04 9.99802040e-01 2.11941142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02232058799996 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:281.51, Y:11.51, Z:2.12 [[ 9.59228032e-01 -2.81994201e-01 -1.89961389e-02 2.81508848e+02] [ 2.81932271e-01 9.59416055e-01 -5.91835160e-03 1.15144482e+01] [ 1.98941415e-02 3.21424166e-04 9.99802040e-01 2.12282715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.57, Y:11.53, Z:2.12 [[ 9.60619933e-01 -2.77215772e-01 -1.89936568e-02 2.81565933e+02] [ 2.77152751e-01 9.60807593e-01 -5.92630665e-03 1.15264638e+01] [ 1.98921154e-02 4.28784072e-04 9.99802040e-01 2.12413668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.62, Y:11.54, Z:2.13 [[ 9.61636016e-01 -2.73670435e-01 -1.89911831e-02 2.81623280e+02] [ 2.73606566e-01 9.61823389e-01 -5.93422322e-03 1.15385548e+01] [ 1.98901855e-02 5.10450394e-04 9.99802040e-01 2.12580362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.68, Y:11.55, Z:2.13 [[ 9.61497462e-01 -2.74156997e-01 -1.89887061e-02 2.81680324e+02] [ 2.74093066e-01 9.61684814e-01 -5.94213876e-03 1.15538369e+01] [ 1.98902292e-02 5.08678664e-04 9.99802040e-01 2.12824122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26232058799997 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:281.74, Y:11.56, Z:2.15 [[ 9.63519118e-01 -2.66965205e-01 -1.89865248e-02 2.81738173e+02] [ 2.66899739e-01 9.63705939e-01 -5.94910036e-03 1.15644053e+01] [ 1.98856295e-02 6.64573432e-04 9.99802040e-01 2.14527942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.79, Y:11.58, Z:2.13 [[ 9.61343395e-01 -2.74696947e-01 -1.89859032e-02 2.81794937e+02] [ 2.74632944e-01 9.61530723e-01 -5.95108341e-03 1.15800190e+01] [ 1.98902737e-02 5.06880234e-04 9.99802040e-01 2.13289673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38232058799997 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:281.85, Y:11.59, Z:2.14 [[ 9.60801641e-01 -2.76586016e-01 -1.89837295e-02 2.81853304e+02] [ 2.76522245e-01 9.60989048e-01 -5.95800930e-03 1.15922564e+01] [ 1.98910582e-02 4.75041613e-04 9.99802040e-01 2.13560066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442320588 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:281.91, Y:11.60, Z:2.15 [[ 9.63092447e-01 -2.68500729e-01 -1.89814970e-02 2.81912517e+02] [ 2.68435245e-01 9.63279262e-01 -5.96511353e-03 1.16034837e+01] [ 1.98861197e-02 6.49653005e-04 9.99802041e-01 2.15279505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502320588 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:281.97, Y:11.62, Z:2.15 [[ 9.62635296e-01 -2.70135261e-01 -1.89796457e-02 2.81970161e+02] [ 2.70069979e-01 9.62822182e-01 -5.97099787e-03 1.16157845e+01] [ 1.98870010e-02 6.22060782e-04 9.99802041e-01 2.15450940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.03, Y:11.63, Z:2.14 [[ 9.59563344e-01 -2.80852352e-01 -1.89775178e-02 2.82028652e+02] [ 2.80789024e-01 9.59750900e-01 -5.97775345e-03 1.16284193e+01] [ 1.98925559e-02 4.07354395e-04 9.99802041e-01 2.14071511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622320588 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:282.09, Y:11.64, Z:2.16 [[ 9.62037414e-01 -2.72257015e-01 -1.89771125e-02 2.82086509e+02] [ 2.72191987e-01 9.62224388e-01 -5.97903969e-03 1.16422393e+01] [ 1.98880760e-02 5.86641920e-04 9.99802041e-01 2.16380557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:282.14, Y:11.66, Z:2.14 [[ 9.58495514e-01 -2.84475362e-01 -1.89767559e-02 2.82144544e+02] [ 2.84412695e-01 9.58683293e-01 -5.98017134e-03 1.16569871e+01] [ 1.98939103e-02 3.34737112e-04 9.99802041e-01 2.14340134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742320588 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:282.20, Y:11.67, Z:2.16 [[ 9.59920653e-01 -2.79628750e-01 -1.89763464e-02 2.82204360e+02] [ 2.79565109e-01 9.60108104e-01 -5.98147072e-03 1.16664279e+01] [ 1.98919351e-02 4.36612946e-04 9.99802041e-01 2.16090561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802320588 meters Centerline goodness : 0.998294 with order 1 Centerline is valid? [True, True] Translation: X:282.26, Y:11.68, Z:2.17 [[ 9.59668178e-01 -2.80494135e-01 -1.89744058e-02 2.82263424e+02] [ 2.80430542e-01 9.59855645e-01 -5.98762031e-03 1.16770652e+01] [ 1.98921829e-02 4.25125779e-04 9.99802041e-01 2.17076977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862320588 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:282.32, Y:11.69, Z:2.17 [[ 9.57690911e-01 -2.87172703e-01 -1.89725452e-02 2.82323313e+02] [ 2.87110301e-01 9.57878778e-01 -5.99350995e-03 1.16868086e+01] [ 1.98945709e-02 2.92716836e-04 9.99802041e-01 2.16678040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922320588 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:282.38, Y:11.70, Z:2.17 [[ 9.57771828e-01 -2.86902801e-01 -1.89712572e-02 2.82382531e+02] [ 2.86840265e-01 9.57959650e-01 -5.99758428e-03 1.16967617e+01] [ 1.98944226e-02 3.02596829e-04 9.99802041e-01 2.17115501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98232058799994 meters Centerline goodness : 0.997958 with order 1 Centerline is valid? [True, True] Translation: X:282.44, Y:11.71, Z:2.18 [[ 9.58094174e-01 -2.85824626e-01 -1.89693433e-02 2.82441103e+02] [ 2.85761760e-01 9.58281886e-01 -6.00363126e-03 1.17107707e+01] [ 1.98939638e-02 3.31331202e-04 9.99802041e-01 2.17678714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04232058799994 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:282.50, Y:11.72, Z:2.18 [[ 9.56715058e-01 -2.90407494e-01 -1.89680184e-02 2.82501010e+02] [ 2.90345444e-01 9.56903041e-01 -6.00781443e-03 1.17176835e+01] [ 1.98952688e-02 2.40488812e-04 9.99802041e-01 2.17669392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10232058799994 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:282.56, Y:11.73, Z:2.17 [[ 9.55773212e-01 -2.93492413e-01 -1.89676206e-02 2.82558881e+02] [ 2.93430945e-01 9.55961386e-01 -6.00907002e-03 1.17323319e+01] [ 1.98959293e-02 1.77621319e-04 9.99802041e-01 2.16668474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16232058799994 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:282.61, Y:11.75, Z:2.17 [[ 9.58222986e-01 -2.85392635e-01 -1.89671727e-02 2.82614336e+02] [ 2.85329548e-01 9.58410623e-01 -6.01048358e-03 1.17531154e+01] [ 1.98936875e-02 3.47488714e-04 9.99802041e-01 2.17386455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22232058799995 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:282.67, Y:11.77, Z:2.17 [[ 9.58586869e-01 -2.84168049e-01 -1.89666793e-02 2.82670289e+02] [ 2.84104691e-01 9.58774415e-01 -6.01204008e-03 1.17721442e+01] [ 1.98931965e-02 3.74540117e-04 9.99802041e-01 2.17068089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28232058799995 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:282.73, Y:11.79, Z:2.17 [[ 9.58713242e-01 -2.83741437e-01 -1.89662069e-02 2.82725404e+02] [ 2.83677967e-01 9.58900750e-01 -6.01353006e-03 1.17940456e+01] [ 1.98929977e-02 3.84955894e-04 9.99802041e-01 2.17018646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34232058799995 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:282.78, Y:11.81, Z:2.17 [[ 9.59340656e-01 -2.81612868e-01 -1.89657326e-02 2.82781959e+02] [ 2.81548952e-01 9.59528013e-01 -6.01502550e-03 1.18119289e+01] [ 1.98920603e-02 4.30676372e-04 9.99802041e-01 2.17254246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40232058799995 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:282.84, Y:11.83, Z:2.18 [[ 9.60886220e-01 -2.76293427e-01 -1.89635030e-02 2.82837948e+02] [ 2.76228336e-01 9.61073172e-01 -6.02204657e-03 1.18309109e+01] [ 1.98891658e-02 5.48244692e-04 9.99802041e-01 2.18164098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46232058799995 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:282.90, Y:11.85, Z:2.17 [[ 9.60032873e-01 -2.79244136e-01 -1.89629911e-02 2.82895621e+02] [ 2.79179587e-01 9.60220013e-01 -6.02365811e-03 1.18472515e+01] [ 1.98907147e-02 4.88829792e-04 9.99802041e-01 2.17490736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52232058799996 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:282.95, Y:11.87, Z:2.17 [[ 9.59477106e-01 -2.81147840e-01 -1.89624829e-02 2.82951854e+02] [ 2.81083631e-01 9.59664363e-01 -6.02525725e-03 1.18660905e+01] [ 1.98916072e-02 4.51052830e-04 9.99802041e-01 2.17139585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58232058799996 meters Centerline goodness : 0.998497 with order 1 Centerline is valid? [True, True] Translation: X:283.01, Y:11.88, Z:2.18 [[ 9.60663146e-01 -2.77068154e-01 -1.89620086e-02 2.83008561e+02] [ 2.77003120e-01 9.60850118e-01 -6.02674963e-03 1.18842199e+01] [ 1.98894686e-02 5.37140705e-04 9.99802041e-01 2.17825208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64232058799996 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:283.07, Y:11.90, Z:2.18 [[ 9.60170429e-01 -2.78770989e-01 -1.89600449e-02 2.83065748e+02] [ 2.78706165e-01 9.60357474e-01 -6.03292111e-03 1.18994091e+01] [ 1.98902242e-02 5.08351052e-04 9.99802041e-01 2.17751713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70232058799996 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:283.12, Y:11.92, Z:2.19 [[ 9.60648108e-01 -2.77120577e-01 -1.89577858e-02 2.83122393e+02] [ 2.77055292e-01 9.60834993e-01 -6.04001168e-03 1.19164798e+01] [ 1.98891155e-02 5.49970901e-04 9.99802041e-01 2.18529989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76232058799997 meters Centerline goodness : 0.998493 with order 1 Centerline is valid? [True, True] Translation: X:283.18, Y:11.93, Z:2.18 [[ 9.61024792e-01 -2.75811476e-01 -1.89573102e-02 2.83178810e+02] [ 2.75745907e-01 9.61211577e-01 -6.04150418e-03 1.19318917e+01] [ 1.98883022e-02 5.78634605e-04 9.99802041e-01 2.18346158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.24, Y:11.95, Z:2.16 [[ 9.54644207e-01 -2.97144895e-01 -1.89565093e-02 2.83237829e+02] [ 2.97083452e-01 9.54832390e-01 -6.04401605e-03 1.19456073e+01] [ 1.98962376e-02 1.38219687e-04 9.99802041e-01 2.16256827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88232058799997 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:283.29, Y:11.96, Z:2.18 [[ 9.59881252e-01 -2.79765354e-01 -1.89559530e-02 2.83294881e+02] [ 2.79700471e-01 9.60068276e-01 -6.04576042e-03 1.19623539e+01] [ 1.98904034e-02 5.01223109e-04 9.99802041e-01 2.18265330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942320588 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:283.35, Y:11.98, Z:2.18 [[ 9.60077943e-01 -2.79089751e-01 -1.89539982e-02 2.83351127e+02] [ 2.79024615e-01 9.60264880e-01 -6.05188265e-03 1.19807812e+01] [ 1.98898772e-02 5.21647000e-04 9.99802041e-01 2.17905502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002320588 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:283.41, Y:12.00, Z:2.18 [[ 9.59720497e-01 -2.80316485e-01 -1.89535247e-02 2.83407657e+02] [ 2.80251559e-01 9.59907506e-01 -6.05336522e-03 1.19975815e+01] [ 1.98904887e-02 4.97783836e-04 9.99802041e-01 2.17911408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062320588 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:283.47, Y:12.01, Z:2.19 [[ 9.60708021e-01 -2.76913246e-01 -1.89513225e-02 2.83465072e+02] [ 2.76847522e-01 9.60894751e-01 -6.06025187e-03 1.20138150e+01] [ 1.98883903e-02 5.75505920e-04 9.99802041e-01 2.18880737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.52, Y:12.03, Z:2.17 [[ 9.55284068e-01 -2.95081800e-01 -1.89494127e-02 2.83521599e+02] [ 2.95019510e-01 9.55471972e-01 -6.06621760e-03 1.20339027e+01] [ 1.98956631e-02 2.04514588e-04 9.99802041e-01 2.16560984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182320588 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:283.58, Y:12.05, Z:2.18 [[ 9.60081688e-01 -2.79077228e-01 -1.89487258e-02 2.83576594e+02] [ 2.79011765e-01 9.60268509e-01 -6.06836237e-03 1.20540139e+01] [ 1.98894064e-02 5.39206165e-04 9.99802041e-01 2.18128220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.63, Y:12.07, Z:2.17 [[ 9.55375097e-01 -2.94787134e-01 -1.89464915e-02 2.83633078e+02] [ 2.94724606e-01 9.55562922e-01 -6.07533016e-03 1.20723937e+01] [ 1.98954940e-02 2.20221886e-04 9.99802041e-01 2.16563441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:283.69, Y:12.09, Z:2.17 [[ 9.54536344e-01 -2.97491985e-01 -1.89442901e-02 2.83689402e+02] [ 2.97429853e-01 9.54724300e-01 -6.08218706e-03 1.20871478e+01] [ 1.98959760e-02 1.71071187e-04 9.99802041e-01 2.16897943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362320588 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:283.75, Y:12.11, Z:2.18 [[ 9.58871394e-01 -2.83208158e-01 -1.89417435e-02 2.83745202e+02] [ 2.83143070e-01 9.59058347e-01 -6.09010744e-03 1.21054063e+01] [ 1.98910054e-02 4.76406384e-04 9.99802041e-01 2.18274266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.80, Y:12.13, Z:2.17 [[ 9.53892826e-01 -2.99549282e-01 -1.89394945e-02 2.83801355e+02] [ 2.99487259e-01 9.54080818e-01 -6.09709373e-03 1.21254986e+01] [ 1.98961884e-02 1.43836679e-04 9.99802041e-01 2.16680840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48232058799994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:283.86, Y:12.14, Z:2.18 [[ 9.57867106e-01 -2.86586787e-01 -1.89372815e-02 2.83856427e+02] [ 2.86522085e-01 9.58054193e-01 -6.10395941e-03 1.21442145e+01] [ 1.98922561e-02 4.20832548e-04 9.99802041e-01 2.18047397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.91, Y:12.16, Z:2.17 [[ 9.53349648e-01 -3.01273727e-01 -1.89364789e-02 2.83914968e+02] [ 3.01211859e-01 9.53537691e-01 -6.10644847e-03 1.21574995e+01] [ 1.98963588e-02 1.17688504e-04 9.99802041e-01 2.17050422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.97, Y:12.18, Z:2.17 [[ 9.52749441e-01 -3.03166606e-01 -1.89344104e-02 2.83970308e+02] [ 3.03104984e-01 9.52937564e-01 -6.11285560e-03 1.21768840e+01] [ 1.98965246e-02 8.49056084e-05 9.99802041e-01 2.16919050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.03, Y:12.19, Z:2.17 [[ 9.52996266e-01 -3.02389983e-01 -1.89318519e-02 2.84026535e+02] [ 3.02328051e-01 9.53184288e-01 -6.12076895e-03 1.21937581e+01] [ 1.98964030e-02 1.09440063e-04 9.99802041e-01 2.17044644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.08, Y:12.21, Z:2.17 [[ 9.53091451e-01 -3.02089981e-01 -1.89296006e-02 2.84083113e+02] [ 3.02027851e-01 9.53279407e-01 -6.12772359e-03 1.22127503e+01] [ 1.98963224e-02 1.23014360e-04 9.99802041e-01 2.16944785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.14, Y:12.23, Z:2.17 [[ 9.52589362e-01 -3.03669652e-01 -1.89274814e-02 2.84139146e+02] [ 3.03607704e-01 9.52777378e-01 -6.13426240e-03 1.22276778e+01] [ 1.98964655e-02 9.69039158e-05 9.99802041e-01 2.17353334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.19, Y:12.24, Z:2.17 [[ 9.52032738e-01 -3.05410402e-01 -1.89248953e-02 2.84194783e+02] [ 3.05348639e-01 9.52220816e-01 -6.14223062e-03 1.22440397e+01] [ 1.98965804e-02 6.89136165e-05 9.99802041e-01 2.17444888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.25, Y:12.26, Z:2.17 [[ 9.51388102e-01 -3.07412794e-01 -1.89223255e-02 2.84250727e+02] [ 3.07351269e-01 9.51576257e-01 -6.15013710e-03 1.22611850e+01] [ 1.98966665e-02 3.53664919e-05 9.99802041e-01 2.17233977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.31, Y:12.28, Z:2.17 [[ 9.51473782e-01 -3.07147660e-01 -1.89197534e-02 2.84307017e+02] [ 3.07085926e-01 9.51661869e-01 -6.15803962e-03 1.22795577e+01] [ 1.98966353e-02 4.92232615e-05 9.99802041e-01 2.17463306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.36, Y:12.30, Z:2.17 [[ 9.50740636e-01 -3.09409715e-01 -1.89175072e-02 2.84362278e+02] [ 3.09348291e-01 9.50928824e-01 -6.16493227e-03 1.22977536e+01] [ 1.98966928e-02 9.15310355e-06 9.99802041e-01 2.17293310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.42, Y:12.31, Z:2.18 [[ 9.50376140e-01 -3.10527646e-01 -1.89149185e-02 2.84418746e+02] [ 3.10466286e-01 9.50564349e-01 -6.17286441e-03 1.23146147e+01] [ 1.98966923e-02 -5.90146735e-06 9.99802041e-01 2.17798591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14232058799996 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:284.47, Y:12.33, Z:2.20 [[ 9.54342272e-01 -2.98115983e-01 -1.89126572e-02 2.84474378e+02] [ 2.98052039e-01 9.54529618e-01 -6.17978508e-03 1.23346513e+01] [ 1.98949842e-02 2.60674098e-04 9.99802041e-01 2.19724707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:284.53, Y:12.35, Z:2.20 [[ 9.55556541e-01 -2.94200772e-01 -1.89103758e-02 2.84530462e+02] [ 2.94135922e-01 9.55743576e-01 -6.18675830e-03 1.23531562e+01] [ 1.98936193e-02 3.49576549e-04 9.99802041e-01 2.19812051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:12.37, Z:2.18 [[ 9.50524685e-01 -3.10073061e-01 -1.89081803e-02 2.84588403e+02] [ 3.10011201e-01 9.50712731e-01 -6.19346101e-03 1.23706511e+01] [ 1.98966732e-02 2.52898903e-05 9.99802041e-01 2.17836286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32232058799997 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:284.64, Y:12.39, Z:2.21 [[ 9.57696619e-01 -2.87157965e-01 -1.89073516e-02 2.84642988e+02] [ 2.87091558e-01 9.57883107e-01 -6.19598982e-03 1.23936118e+01] [ 1.98902605e-02 5.05737471e-04 9.99802041e-01 2.21062775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38232058799997 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:284.70, Y:12.41, Z:2.20 [[ 9.54192341e-01 -2.98595986e-01 -1.89053540e-02 2.84701760e+02] [ 2.98531694e-01 9.54379569e-01 -6.20207898e-03 1.24076872e+01] [ 1.98947995e-02 2.74128904e-04 9.99802041e-01 2.20404581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442320588 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:284.76, Y:12.43, Z:2.20 [[ 9.54495802e-01 -2.97624624e-01 -1.89036420e-02 2.84757920e+02] [ 2.97560038e-01 9.54682928e-01 -6.20729265e-03 1.24274664e+01] [ 1.98944275e-02 2.99866335e-04 9.99802041e-01 2.20286394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.82, Y:12.44, Z:2.19 [[ 9.49971932e-01 -3.11762825e-01 -1.89015878e-02 2.84815346e+02] [ 3.11700900e-01 9.50159955e-01 -6.21354149e-03 1.24449002e+01] [ 1.98966831e-02 1.10480676e-05 9.99802041e-01 2.18657002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562320588 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:12.46, Z:2.20 [[ 9.53284417e-01 -3.01482310e-01 -1.89007295e-02 2.84871121e+02] [ 3.01418306e-01 9.53471743e-01 -6.21615130e-03 1.24625480e+01] [ 1.98953712e-02 2.28734291e-04 9.99802041e-01 2.20455992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:12.48, Z:2.20 [[ 9.51921783e-01 -3.05757695e-01 -1.88984424e-02 2.84927903e+02] [ 3.05694394e-01 9.52109348e-01 -6.22309680e-03 1.24787679e+01] [ 1.98961434e-02 1.46753495e-04 9.99802041e-01 2.20044429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.682320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:284.98, Y:12.50, Z:2.20 [[ 9.52433433e-01 -3.04160304e-01 -1.88961770e-02 2.84983790e+02] [ 3.04096552e-01 9.52620845e-01 -6.22996802e-03 1.24995363e+01] [ 1.98958011e-02 1.87367544e-04 9.99802041e-01 2.20415080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.04, Y:12.52, Z:2.19 [[ 9.50106409e-01 -3.11353216e-01 -1.88940945e-02 2.85040095e+02] [ 3.11290758e-01 9.50294256e-01 -6.23627756e-03 1.25186599e+01] [ 1.98966345e-02 4.35702858e-05 9.99802041e-01 2.18926173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.09, Y:12.54, Z:2.19 [[ 9.50701510e-01 -3.09531468e-01 -1.88920220e-02 2.85094936e+02] [ 3.09468525e-01 9.50889196e-01 -6.24254949e-03 1.25380382e+01] [ 1.98964851e-02 8.83150494e-05 9.99802041e-01 2.19211450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.862320588 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:285.15, Y:12.56, Z:2.22 [[ 9.55472471e-01 -2.94475036e-01 -1.88894051e-02 2.85150407e+02] [ 2.94408980e-01 9.55659084e-01 -6.25045799e-03 1.25591287e+01] [ 1.98924354e-02 4.10930058e-04 9.99802041e-01 2.22076945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.922320588 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:285.21, Y:12.58, Z:2.22 [[ 9.54123262e-01 -2.98817694e-01 -1.88887963e-02 2.85207195e+02] [ 2.98752451e-01 9.54310160e-01 -6.25229710e-03 1.25767376e+01] [ 1.98940673e-02 3.22387897e-04 9.99802041e-01 2.21971917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98232058799994 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:285.26, Y:12.60, Z:2.23 [[ 9.54008157e-01 -2.99185020e-01 -1.88880993e-02 2.85264148e+02] [ 2.99119808e-01 9.54195066e-01 -6.25440205e-03 1.25950291e+01] [ 1.98941546e-02 3.16945930e-04 9.99802041e-01 2.22557681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04232058799994 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:285.32, Y:12.61, Z:2.21 [[ 9.50213565e-01 -3.11026443e-01 -1.88873827e-02 2.85322356e+02] [ 3.10963517e-01 9.50401256e-01 -6.25656547e-03 1.26114093e+01] [ 1.98965495e-02 7.17864316e-05 9.99802041e-01 2.21192916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10232058799994 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:285.38, Y:12.63, Z:2.23 [[ 9.52945179e-01 -3.02553797e-01 -1.88861234e-02 2.85377758e+02] [ 3.02489127e-01 9.53132276e-01 -6.26036458e-03 1.26324049e+01] [ 1.98950708e-02 2.52937272e-04 9.99802041e-01 2.22857275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16232058799994 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:285.43, Y:12.65, Z:2.22 [[ 9.50787042e-01 -3.09269051e-01 -1.88853047e-02 2.85434696e+02] [ 3.09205653e-01 9.50974574e-01 -6.26283312e-03 1.26507407e+01] [ 1.98963451e-02 1.15177601e-04 9.99802041e-01 2.22003168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22232058799995 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:285.49, Y:12.67, Z:2.23 [[ 9.53555411e-01 -3.00625080e-01 -1.88848847e-02 2.85491068e+02] [ 3.00559958e-01 9.53742351e-01 -6.26409940e-03 1.26713724e+01] [ 1.98944597e-02 2.97125725e-04 9.99802042e-01 2.22944630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28232058799995 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:285.55, Y:12.69, Z:2.22 [[ 9.52357986e-01 -3.04397269e-01 -1.88830518e-02 2.85547708e+02] [ 3.04332778e-01 9.52545145e-01 -6.26961969e-03 1.26895940e+01] [ 1.98954145e-02 2.24190756e-04 9.99802042e-01 2.22025650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34232058799995 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:285.60, Y:12.71, Z:2.22 [[ 9.53203399e-01 -3.01739514e-01 -1.88824212e-02 2.85603648e+02] [ 3.01674463e-01 9.53390364e-01 -6.27151859e-03 1.27092116e+01] [ 1.98946834e-02 2.81688581e-04 9.99802042e-01 2.22086041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40232058799995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:285.66, Y:12.73, Z:2.22 [[ 9.54445104e-01 -2.97788657e-01 -1.88801268e-02 2.85659264e+02] [ 2.97722696e-01 9.54631750e-01 -6.27841814e-03 1.27286317e+01] [ 1.98932102e-02 3.71363210e-04 9.99802042e-01 2.22048577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:285.72, Y:12.75, Z:2.22 [[ 9.54144063e-01 -2.98751963e-01 -1.88778067e-02 2.85715894e+02] [ 2.98686052e-01 9.54330727e-01 -6.28538632e-03 1.27477645e+01] [ 1.98934425e-02 3.58626474e-04 9.99802042e-01 2.21601523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52232058799996 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:285.77, Y:12.77, Z:2.23 [[ 9.58406726e-01 -2.84780977e-01 -1.88770505e-02 2.85771069e+02] [ 2.84712302e-01 9.58592390e-01 -6.28765656e-03 1.27709229e+01] [ 1.98860020e-02 6.51603820e-04 9.99802042e-01 2.23098641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58232058799996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:285.83, Y:12.79, Z:2.22 [[ 9.56131866e-01 -2.92327859e-01 -1.88752946e-02 2.85828865e+02] [ 2.92260546e-01 9.56318029e-01 -6.29292341e-03 1.27876401e+01] [ 1.98903813e-02 5.00360700e-04 9.99802042e-01 2.21934965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64232058799996 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:285.88, Y:12.81, Z:2.22 [[ 9.56673616e-01 -2.90550137e-01 -1.88735268e-02 2.85883579e+02] [ 2.90482374e-01 9.56859615e-01 -6.29822088e-03 1.28095596e+01] [ 1.98892645e-02 5.42914879e-04 9.99802042e-01 2.21913798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70232058799996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:285.94, Y:12.83, Z:2.22 [[ 9.58237552e-01 -2.85350096e-01 -1.88710668e-02 2.85938611e+02] [ 2.85281179e-01 9.58423126e-01 -6.30558316e-03 1.28305967e+01] [ 1.98857656e-02 6.58686407e-04 9.99802042e-01 2.22472358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76232058799997 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:286.00, Y:12.85, Z:2.23 [[ 9.58448828e-01 -2.84639688e-01 -1.88704076e-02 2.85995099e+02] [ 2.84570594e-01 9.58634337e-01 -6.30755507e-03 1.28473226e+01] [ 1.98852012e-02 6.75505653e-04 9.99802042e-01 2.22690024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82232058799997 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:286.05, Y:12.87, Z:2.22 [[ 9.56845486e-01 -2.89983984e-01 -1.88680768e-02 2.86050733e+02] [ 2.89915789e-01 9.57031328e-01 -6.31451965e-03 1.28685084e+01] [ 1.98884502e-02 5.71866252e-04 9.99802042e-01 2.22179453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88232058799997 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:286.11, Y:12.89, Z:2.22 [[ 9.56472058e-01 -2.91213474e-01 -1.88656995e-02 2.86106799e+02] [ 2.91145378e-01 9.56657936e-01 -6.32161431e-03 1.28860503e+01] [ 1.98889604e-02 5.53786236e-04 9.99802042e-01 2.22387843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.16, Y:12.90, Z:2.21 [[ 9.50570983e-01 -3.09933850e-01 -1.88630601e-02 2.86163147e+02] [ 3.09869260e-01 9.50758108e-01 -6.32948034e-03 1.29017586e+01] [ 1.98959275e-02 1.71537881e-04 9.99802042e-01 2.21104107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002320588 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:286.22, Y:12.92, Z:2.23 [[ 9.55388897e-01 -2.94747925e-01 -1.88604340e-02 2.86218662e+02] [ 2.94680207e-01 9.55574913e-01 -6.33729574e-03 1.29198718e+01] [ 1.98904624e-02 4.96785391e-04 9.99802042e-01 2.23042696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.28, Y:12.93, Z:2.21 [[ 9.48753258e-01 -3.15454636e-01 -1.88580883e-02 2.86276440e+02] [ 3.15390841e-01 9.48940655e-01 -6.34426836e-03 1.29337305e+01] [ 1.98965355e-02 7.14769523e-05 9.99802042e-01 2.21231655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.33, Y:12.95, Z:2.21 [[ 9.48652990e-01 -3.15756175e-01 -1.88558223e-02 2.86332299e+02] [ 3.15692306e-01 9.48840362e-01 -6.35099585e-03 1.29517559e+01] [ 1.98965314e-02 7.22531777e-05 9.99802042e-01 2.21240864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.39, Y:12.97, Z:2.21 [[ 9.48817279e-01 -3.15262317e-01 -1.88531644e-02 2.86388216e+02] [ 3.15198194e-01 9.49004564e-01 -6.35887631e-03 1.29709627e+01] [ 1.98964531e-02 9.09283480e-05 9.99802042e-01 2.21289766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.44, Y:12.99, Z:2.22 [[ 9.48640551e-01 -3.15793841e-01 -1.88508419e-02 2.86444405e+02] [ 3.15729687e-01 9.48827825e-01 -6.36575371e-03 1.29881863e+01] [ 1.98964692e-02 8.70416981e-05 9.99802042e-01 2.21539491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.50, Y:13.01, Z:2.22 [[ 9.50418829e-01 -3.10401003e-01 -1.88485077e-02 2.86498966e+02] [ 3.10335648e-01 9.50605688e-01 -6.37265776e-03 1.30080712e+01] [ 1.98955780e-02 2.07330073e-04 9.99802042e-01 2.21647853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.55, Y:13.03, Z:2.21 [[ 9.51641396e-01 -3.06632496e-01 -1.88458513e-02 2.86553201e+02] [ 3.06566246e-01 9.51827939e-01 -6.38050385e-03 1.30315425e+01] [ 1.98944776e-02 2.94449692e-04 9.99802042e-01 2.21471995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.61, Y:13.05, Z:2.22 [[ 9.51676920e-01 -3.06522367e-01 -1.88435256e-02 2.86608839e+02] [ 3.06455960e-01 9.51863407e-01 -6.38736493e-03 1.30515233e+01] [ 1.98943327e-02 3.03997060e-04 9.99802042e-01 2.21828010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.66, Y:13.07, Z:2.22 [[ 9.51582909e-01 -3.06814238e-01 -1.88411897e-02 2.86663306e+02] [ 3.06747752e-01 9.51769368e-01 -6.39424798e-03 1.30722237e+01] [ 1.98943135e-02 3.05164513e-04 9.99802042e-01 2.21891993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.72, Y:13.09, Z:2.22 [[ 9.50899353e-01 -3.08926416e-01 -1.88385049e-02 2.86718256e+02] [ 3.08860188e-01 9.51085904e-01 -6.40214807e-03 1.30919616e+01] [ 1.98948291e-02 2.69334311e-04 9.99802042e-01 2.22194803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60232058799994 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:286.77, Y:13.12, Z:2.23 [[ 9.54242762e-01 -2.98439211e-01 -1.88358255e-02 2.86772207e+02] [ 2.98370778e-01 9.54428515e-01 -6.41002128e-03 1.31162504e+01] [ 1.98904507e-02 4.96656495e-04 9.99802042e-01 2.23359966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.83, Y:13.13, Z:2.22 [[ 9.48378988e-01 -3.16579525e-01 -1.88334688e-02 2.86829236e+02] [ 3.16514508e-01 9.48565965e-01 -6.41693832e-03 1.31341813e+01] [ 1.98962587e-02 1.24623367e-04 9.99802042e-01 2.21967662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.89, Y:13.15, Z:2.22 [[ 9.47061302e-01 -3.20500044e-01 -1.88311664e-02 2.86885432e+02] [ 3.20435667e-01 9.47248499e-01 -6.42368763e-03 1.31540292e+01] [ 1.98965863e-02 4.94485897e-05 9.99802042e-01 2.22153691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.94, Y:13.17, Z:2.22 [[ 9.45156274e-01 -3.26075279e-01 -1.88289738e-02 2.86941622e+02] [ 3.26011879e-01 9.45343805e-01 -6.43010817e-03 1.31714783e+01] [ 1.98965531e-02 -6.10120465e-05 9.99802042e-01 2.22171973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.00, Y:13.19, Z:2.22 [[ 9.43451457e-01 -3.30975691e-01 -1.88266128e-02 2.86998959e+02] [ 3.30913127e-01 9.43639268e-01 -6.43701343e-03 1.31872488e+01] [ 1.98960261e-02 -1.56963626e-04 9.99802042e-01 2.22312344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90232058799995 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:287.05, Y:13.21, Z:2.24 [[ 9.49208299e-01 -3.14084784e-01 -1.88242728e-02 2.87053639e+02] [ 3.14018742e-01 9.49394916e-01 -6.44384942e-03 1.32066515e+01] [ 1.98955839e-02 2.05380899e-04 9.99802042e-01 2.24332379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.11, Y:13.22, Z:2.22 [[ 9.42226152e-01 -3.34448240e-01 -1.88216060e-02 2.87111072e+02] [ 3.34386076e-01 9.42414096e-01 -6.45162923e-03 1.32216946e+01] [ 1.98954829e-02 -2.14789195e-04 9.99802042e-01 2.22165299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.17, Y:13.24, Z:2.22 [[ 9.41472148e-01 -3.36565044e-01 -1.88192806e-02 2.87168130e+02] [ 3.36503167e-01 9.41660187e-01 -6.45840527e-03 1.32370563e+01] [ 1.98950408e-02 -2.52338857e-04 9.99802042e-01 2.22411969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:287.22, Y:13.25, Z:2.24 [[ 9.46087055e-01 -3.23365439e-01 -1.88169596e-02 2.87224253e+02] [ 3.23300804e-01 9.46274163e-01 -6.46516052e-03 1.32548123e+01] [ 1.98966122e-02 3.30664946e-05 9.99802042e-01 2.24181884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.28, Y:13.27, Z:2.23 [[ 9.40642810e-01 -3.38876148e-01 -1.88164627e-02 2.87281757e+02] [ 3.38814569e-01 9.40830947e-01 -6.46660667e-03 1.32712752e+01] [ 1.98944891e-02 -2.92524622e-04 9.99802042e-01 2.22750720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20232058799996 meters Centerline goodness : 0.998593 with order 1 Centerline is valid? [True, True] Translation: X:287.34, Y:13.29, Z:2.26 [[ 9.48636174e-01 -3.15809168e-01 -1.88143399e-02 2.87336823e+02] [ 3.15742892e-01 9.48822707e-01 -6.47277687e-03 1.32906651e+01] [ 1.98956352e-02 1.99816202e-04 9.99802042e-01 2.25570755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.39, Y:13.31, Z:2.23 [[ 9.41451474e-01 -3.36623178e-01 -1.88137881e-02 2.87394798e+02] [ 3.36560994e-01 9.41639411e-01 -6.47438021e-03 1.33074204e+01] [ 1.98952308e-02 -2.36672444e-04 9.99802042e-01 2.22773594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.45, Y:13.32, Z:2.23 [[ 9.41673125e-01 -3.36002662e-01 -1.88132094e-02 2.87450706e+02] [ 3.35940321e-01 9.41861010e-01 -6.47606146e-03 1.33243436e+01] [ 1.98954023e-02 -2.21782569e-04 9.99802042e-01 2.23116906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.51, Y:13.34, Z:2.23 [[ 9.41598371e-01 -3.36212243e-01 -1.88105385e-02 2.87508169e+02] [ 3.36149788e-01 9.41786218e-01 -6.48381020e-03 1.33390096e+01] [ 1.98954423e-02 -2.18013397e-04 9.99802042e-01 2.23306983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442320588 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:287.56, Y:13.36, Z:2.25 [[ 9.45737142e-01 -3.24387902e-01 -1.88081954e-02 2.87563463e+02] [ 3.24322963e-01 9.45924145e-01 -6.49060000e-03 1.33598366e+01] [ 1.98965982e-02 3.84718360e-05 9.99802042e-01 2.25119403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:287.62, Y:13.38, Z:2.25 [[ 9.44506497e-01 -3.27953881e-01 -1.88077073e-02 2.87620583e+02] [ 3.27889620e-01 9.44693734e-01 -6.49201398e-03 1.33758727e+01] [ 1.98966044e-02 -3.51026131e-05 9.99802042e-01 2.24737789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562320588 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:287.68, Y:13.39, Z:2.26 [[ 9.46861934e-01 -3.21090073e-01 -1.88053841e-02 2.87677254e+02] [ 3.21024322e-01 9.47048653e-01 -6.49873656e-03 1.33939399e+01] [ 1.98962935e-02 1.16420594e-04 9.99802042e-01 2.25546378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622320588 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:287.73, Y:13.41, Z:2.26 [[ 9.47421236e-01 -3.19436130e-01 -1.88032039e-02 2.87733142e+02] [ 3.19369928e-01 9.47607795e-01 -6.50503857e-03 1.34118631e+01] [ 1.98960069e-02 1.57833815e-04 9.99802042e-01 2.25760848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:287.79, Y:13.43, Z:2.25 [[ 9.46214351e-01 -3.22993702e-01 -1.88008074e-02 2.87790029e+02] [ 3.22928063e-01 9.46401110e-01 -6.51195747e-03 1.34278189e+01] [ 1.98964263e-02 9.03992885e-05 9.99802042e-01 2.25110128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742320588 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:287.85, Y:13.45, Z:2.26 [[ 9.48063830e-01 -3.17524164e-01 -1.87983832e-02 2.87845086e+02] [ 3.17457309e-01 9.48250157e-01 -6.51894799e-03 1.34496157e+01] [ 1.98954934e-02 2.12694639e-04 9.99802042e-01 2.25500167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802320588 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:287.90, Y:13.47, Z:2.25 [[ 9.47428228e-01 -3.19415813e-01 -1.87960497e-02 2.87901260e+02] [ 3.19349197e-01 9.47614640e-01 -6.52566940e-03 1.34683701e+01] [ 1.98958139e-02 1.80100022e-04 9.99802042e-01 2.25479797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.96, Y:13.48, Z:2.24 [[ 9.43763329e-01 -3.30087224e-01 -1.87937236e-02 2.87959087e+02] [ 3.30022583e-01 9.43950435e-01 -6.53236171e-03 1.34848749e+01] [ 1.98965927e-02 -3.73497697e-05 9.99802043e-01 2.24226697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.01, Y:13.51, Z:2.24 [[ 9.43706861e-01 -3.30248744e-01 -1.87916732e-02 2.88014060e+02] [ 3.30184018e-01 9.43893938e-01 -6.53825462e-03 1.35069385e+01] [ 1.98965968e-02 -3.45144146e-05 9.99802043e-01 2.24068042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98232058799994 meters Centerline goodness : 0.998112 with order 1 Centerline is valid? [True, True] Translation: X:288.07, Y:13.53, Z:2.27 [[ 9.49763668e-01 -3.12403486e-01 -1.87892853e-02 2.88069683e+02] [ 3.12335109e-01 9.49949441e-01 -6.54510957e-03 1.35259532e+01] [ 1.98935862e-02 3.47753787e-04 9.99802043e-01 2.27118246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.13, Y:13.55, Z:2.24 [[ 9.43709863e-01 -3.30240423e-01 -1.87871546e-02 2.88126975e+02] [ 3.30175437e-01 9.43896850e-01 -6.55121987e-03 1.35451176e+01] [ 1.98966137e-02 -2.06061753e-05 9.99802043e-01 2.24247373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.18, Y:13.57, Z:2.24 [[ 9.43187551e-01 -3.31729311e-01 -1.87858280e-02 2.88182648e+02] [ 3.31664544e-01 9.43374614e-01 -6.55502187e-03 1.35650154e+01] [ 1.98965661e-02 -4.79780529e-05 9.99802043e-01 2.24281146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16232058799994 meters Centerline goodness : 0.997688 with order 1 Centerline is valid? [True, True] Translation: X:288.24, Y:13.59, Z:2.27 [[ 9.49852069e-01 -3.12134954e-01 -1.87834252e-02 2.88238007e+02] [ 3.12066193e-01 9.50037701e-01 -6.56189980e-03 1.35869368e+01] [ 1.98931604e-02 3.71162100e-04 9.99802043e-01 2.27268166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22232058799995 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:288.29, Y:13.61, Z:2.27 [[ 9.49783858e-01 -3.12342577e-01 -1.87813085e-02 2.88294817e+02] [ 3.12273736e-01 9.49969460e-01 -6.56795258e-03 1.36066454e+01] [ 1.98931208e-02 3.73225955e-04 9.99802043e-01 2.27159882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:288.35, Y:13.62, Z:2.26 [[ 9.46834356e-01 -3.21172901e-01 -1.87795394e-02 2.88351949e+02] [ 3.21105691e-01 9.47020554e-01 -6.57300701e-03 1.36247384e+01] [ 1.98956816e-02 1.93331866e-04 9.99802043e-01 2.26193470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.41, Y:13.64, Z:2.25 [[ 9.42861107e-01 -3.32656395e-01 -1.87791203e-02 2.88408032e+02] [ 3.32591430e-01 9.43048101e-01 -6.57420432e-03 1.36439286e+01] [ 1.98965648e-02 -4.72128948e-05 9.99802043e-01 2.24684287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40232058799995 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:288.46, Y:13.66, Z:2.27 [[ 9.46716284e-01 -3.21520934e-01 -1.87767477e-02 2.88463670e+02] [ 3.21453635e-01 9.46902451e-01 -6.58097385e-03 1.36636957e+01] [ 1.98956692e-02 1.94461326e-04 9.99802043e-01 2.26807556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:288.52, Y:13.68, Z:2.25 [[ 9.41931455e-01 -3.35279971e-01 -1.87743249e-02 2.88519873e+02] [ 3.35215254e-01 9.42118535e-01 -6.58787832e-03 1.36819261e+01] [ 1.98964231e-02 -8.81102767e-05 9.99802043e-01 2.25242096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:288.57, Y:13.70, Z:2.25 [[ 9.41578165e-01 -3.36270924e-01 -1.87729924e-02 2.88574567e+02] [ 3.36206328e-01 9.41765286e-01 -6.59167309e-03 1.37025525e+01] [ 1.98963406e-02 -1.05023405e-04 9.99802043e-01 2.25285745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.63, Y:13.72, Z:2.26 [[ 9.40551865e-01 -3.39130943e-01 -1.87721361e-02 2.88629649e+02] [ 3.39066868e-01 9.40739165e-01 -6.59411082e-03 1.37212670e+01] [ 1.98959507e-02 -1.62906186e-04 9.99802043e-01 2.25544780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64232058799996 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:288.69, Y:13.74, Z:2.28 [[ 9.42399959e-01 -3.33961116e-01 -1.87694039e-02 2.88685333e+02] [ 3.33895859e-01 9.42586850e-01 -6.60187876e-03 1.37388405e+01] [ 1.98965641e-02 -4.54159570e-05 9.99802043e-01 2.27689720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.74, Y:13.76, Z:2.26 [[ 9.37237021e-01 -3.48187546e-01 -1.87669840e-02 2.88740219e+02] [ 3.48124987e-01 9.37424833e-01 -6.60875067e-03 1.37582378e+01] [ 1.98937215e-02 -3.39290256e-04 9.99802043e-01 2.25891465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.80, Y:13.78, Z:2.26 [[ 9.37236587e-01 -3.48188857e-01 -1.87643264e-02 2.88795808e+02] [ 3.48126148e-01 9.37424349e-01 -6.61628769e-03 1.37779796e+01] [ 1.98938541e-02 -3.31325776e-04 9.99802043e-01 2.26217286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82232058799997 meters Centerline goodness : 0.998344 with order 1 Centerline is valid? [True, True] Translation: X:288.85, Y:13.80, Z:2.30 [[ 9.45500339e-01 -3.25080140e-01 -1.87619596e-02 2.88849228e+02] [ 3.25012708e-01 9.45686457e-01 -6.62299258e-03 1.38034112e+01] [ 1.98959344e-02 1.64166450e-04 9.99802043e-01 2.29506380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88232058799997 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:288.91, Y:13.82, Z:2.28 [[ 9.41242428e-01 -3.37210180e-01 -1.87613021e-02 2.88907624e+02] [ 3.37145110e-01 9.41429385e-01 -6.62485453e-03 1.38195468e+01] [ 1.98964095e-02 -8.96870921e-05 9.99802043e-01 2.27843309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942320588 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:288.96, Y:13.84, Z:2.29 [[ 9.44372695e-01 -3.28341746e-01 -1.87592735e-02 2.88963129e+02] [ 3.28274806e-01 9.44558991e-01 -6.63059376e-03 1.38409229e+01] [ 1.98963412e-02 1.03554825e-04 9.99802043e-01 2.29304037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002320588 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:289.02, Y:13.86, Z:2.29 [[ 9.42363870e-01 -3.34063610e-01 -1.87574282e-02 2.89020211e+02] [ 3.33997697e-01 9.42550532e-01 -6.63581001e-03 1.38590089e+01] [ 1.98966065e-02 -1.15902096e-05 9.99802043e-01 2.28502110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062320588 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:289.08, Y:13.88, Z:2.26 [[ 9.37794757e-01 -3.46683111e-01 -1.87567020e-02 2.89076258e+02] [ 3.46619669e-01 9.37982273e-01 -6.63786200e-03 1.38796585e+01] [ 1.98946886e-02 -2.76489647e-04 9.99802043e-01 2.26409136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122320588 meters Centerline goodness : 0.997039 with order 1 Centerline is valid? [True, True] Translation: X:289.13, Y:13.90, Z:2.30 [[ 9.46795180e-01 -3.21289838e-01 -1.87543619e-02 2.89131314e+02] [ 3.21221236e-01 9.46980870e-01 -6.64446710e-03 1.39019199e+01] [ 1.98948217e-02 2.66650130e-04 9.99802043e-01 2.29680632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.182320588 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:289.19, Y:13.92, Z:2.29 [[ 9.47399466e-01 -3.19503689e-01 -1.87521881e-02 2.89186234e+02] [ 3.19434615e-01 9.47584981e-01 -6.65059624e-03 1.39243308e+01] [ 1.98941819e-02 3.10673340e-04 9.99802043e-01 2.29142493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.242320588 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:289.24, Y:13.94, Z:2.29 [[ 9.46424510e-01 -3.22380243e-01 -1.87516664e-02 2.89242964e+02] [ 3.22311704e-01 9.46610224e-01 -6.65206708e-03 1.39443896e+01] [ 1.98950141e-02 2.51797802e-04 9.99802043e-01 2.28504075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.302320588 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:289.30, Y:13.97, Z:2.28 [[ 9.46254354e-01 -3.22879405e-01 -1.87506421e-02 2.89297233e+02] [ 3.22810906e-01 9.46440083e-01 -6.65495296e-03 1.39659848e+01] [ 1.98951065e-02 2.44366445e-04 9.99802043e-01 2.28173077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.362320588 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:289.35, Y:13.98, Z:2.27 [[ 9.40298730e-01 -3.39833511e-01 -1.87478747e-02 2.89353920e+02] [ 3.39768207e-01 9.40485605e-01 -6.66273995e-03 1.39816843e+01] [ 1.98963286e-02 -1.04965861e-04 9.99802043e-01 2.26750924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.422320588 meters Centerline goodness : 0.997877 with order 1 Centerline is valid? [True, True] Translation: X:289.41, Y:14.00, Z:2.30 [[ 9.46924342e-01 -3.20909505e-01 -1.87451259e-02 2.89408322e+02] [ 3.20840314e-01 9.47109813e-01 -6.67046453e-03 1.40046292e+01] [ 1.98943082e-02 3.02233155e-04 9.99802043e-01 2.29712063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:289.47, Y:14.02, Z:2.27 [[ 9.38428417e-01 -3.44964938e-01 -1.87429419e-02 2.89467243e+02] [ 3.44900379e-01 9.38615551e-01 -6.67659556e-03 1.40192267e+01] [ 1.98956081e-02 -1.98940767e-04 9.99802043e-01 2.26968159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.52, Y:14.04, Z:2.27 [[ 9.37758756e-01 -3.46781342e-01 -1.87407787e-02 2.89522420e+02] [ 3.46717024e-01 9.37945973e-01 -6.68266223e-03 1.40394051e+01] [ 1.98952604e-02 -2.31021978e-04 9.99802043e-01 2.26887105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60232058799994 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:289.58, Y:14.06, Z:2.29 [[ 9.42802622e-01 -3.32824432e-01 -1.87380335e-02 2.89578209e+02] [ 3.32757189e-01 9.42988808e-01 -6.69035087e-03 1.40559495e+01] [ 1.98964681e-02 7.24650031e-05 9.99802043e-01 2.28922387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66232058799994 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:289.64, Y:14.07, Z:2.29 [[ 9.42468463e-01 -3.33769554e-01 -1.87371746e-02 2.89635148e+02] [ 3.33702451e-01 9.42654699e-01 -6.69275543e-03 1.40736341e+01] [ 1.98965236e-02 5.50698498e-05 9.99802043e-01 2.28916502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72232058799995 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:289.69, Y:14.09, Z:2.27 [[ 9.36822661e-01 -3.49302606e-01 -1.87347687e-02 2.89690683e+02] [ 3.49238456e-01 9.37009935e-01 -6.69948335e-03 1.40940982e+01] [ 1.98948114e-02 -2.66673859e-04 9.99802043e-01 2.27135131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78232058799995 meters Centerline goodness : 0.996048 with order 1 Centerline is valid? [True, True] Translation: X:289.75, Y:14.11, Z:2.31 [[ 9.46834715e-01 -3.21174593e-01 -1.87323814e-02 2.89745873e+02] [ 3.21104748e-01 9.47019941e-01 -6.70615167e-03 1.41144025e+01] [ 1.98937843e-02 3.34560598e-04 9.99802043e-01 2.30846838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84232058799995 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:289.80, Y:14.13, Z:2.28 [[ 9.37815326e-01 -3.46628898e-01 -1.87302122e-02 2.89804633e+02] [ 3.46563959e-01 9.38002329e-01 -6.71220488e-03 1.41291508e+01] [ 1.98956268e-02 -1.96407891e-04 9.99802043e-01 2.27934980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90232058799995 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:289.86, Y:14.15, Z:2.30 [[ 9.46401115e-01 -3.22450288e-01 -1.87280681e-02 2.89858743e+02] [ 3.22380454e-01 9.46586345e-01 -6.71818185e-03 1.41541328e+01] [ 1.98940132e-02 3.20531698e-04 9.99802043e-01 2.29684832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96232058799995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:289.91, Y:14.17, Z:2.28 [[ 9.41408825e-01 -3.36747336e-01 -1.87257958e-02 2.89914699e+02] [ 3.36680189e-01 9.41595046e-01 -6.72450969e-03 1.41721514e+01] [ 1.98965773e-02 2.59083065e-05 9.99802043e-01 2.28107715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:289.97, Y:14.19, Z:2.28 [[ 9.43136270e-01 -3.31878521e-01 -1.87249233e-02 2.89969657e+02] [ 3.31810365e-01 9.43322124e-01 -6.72693831e-03 1.41948855e+01] [ 1.98961608e-02 1.31295879e-04 9.99802043e-01 2.28119202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08232058799996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:290.02, Y:14.22, Z:2.30 [[ 9.50312642e-01 -3.10733569e-01 -1.87224633e-02 2.90022850e+02] [ 3.10661145e-01 9.50496875e-01 -6.73377800e-03 1.42196901e+01] [ 1.98880537e-02 5.82852472e-04 9.99802043e-01 2.29764989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14232058799996 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:290.08, Y:14.24, Z:2.29 [[ 9.47921585e-01 -3.17953190e-01 -1.87199951e-02 2.90077750e+02] [ 3.17882034e-01 9.48106311e-01 -6.74063270e-03 1.42436798e+01] [ 1.98917512e-02 4.38841111e-04 9.99802043e-01 2.28645715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20232058799996 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:290.13, Y:14.27, Z:2.29 [[ 9.49285292e-01 -3.13858386e-01 -1.87175768e-02 2.90130503e+02] [ 3.13786301e-01 9.49469657e-01 -6.74734130e-03 1.42700835e+01] [ 1.98894809e-02 5.31832678e-04 9.99802043e-01 2.28602991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26232058799997 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:290.18, Y:14.29, Z:2.29 [[ 9.49923713e-01 -3.11920978e-01 -1.87147664e-02 2.90183758e+02] [ 3.11848364e-01 9.50107871e-01 -6.75512715e-03 1.42936010e+01] [ 1.98881128e-02 5.80686166e-04 9.99802043e-01 2.28883413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.24, Y:14.32, Z:2.29 [[ 9.50488892e-01 -3.10194665e-01 -1.87119329e-02 2.90237449e+02] [ 3.10121562e-01 9.50672856e-01 -6.76296709e-03 1.43174388e+01] [ 1.98867630e-02 6.25151226e-04 9.99802043e-01 2.29147153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38232058799997 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:290.29, Y:14.35, Z:2.31 [[ 9.55227358e-01 -2.95280654e-01 -1.87091048e-02 2.90288975e+02] [ 2.95204528e-01 9.55410092e-01 -6.77078162e-03 1.43477277e+01] [ 1.98741484e-02 9.44623383e-04 9.99802043e-01 2.30720290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:290.35, Y:14.37, Z:2.29 [[ 9.49080484e-01 -3.14477713e-01 -1.87083855e-02 2.90345526e+02] [ 3.14405247e-01 9.49264700e-01 -6.77276861e-03 1.43677488e+01] [ 1.98890947e-02 5.45887939e-04 9.99802043e-01 2.29492916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.40, Y:14.39, Z:2.29 [[ 9.46883323e-01 -3.21032691e-01 -1.87078724e-02 2.90398639e+02] [ 3.20961473e-01 9.47068025e-01 -6.77418564e-03 1.43920531e+01] [ 1.98923628e-02 4.09857127e-04 9.99802043e-01 2.29353979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.45, Y:14.41, Z:2.30 [[ 9.44661810e-01 -3.27512118e-01 -1.87050215e-02 2.90453004e+02] [ 3.27442011e-01 9.44846936e-01 -6.78204838e-03 1.44130358e+01] [ 1.98945853e-02 2.81932222e-04 9.99802043e-01 2.29561900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622320588 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:290.51, Y:14.44, Z:2.31 [[ 9.48164868e-01 -3.17228012e-01 -1.87021767e-02 2.90506097e+02] [ 3.17155744e-01 9.48349161e-01 -6.78988422e-03 1.44385174e+01] [ 1.98901351e-02 5.06426912e-04 9.99802043e-01 2.31085917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.56, Y:14.46, Z:2.30 [[ 9.41343006e-01 -3.36932735e-01 -1.86996311e-02 2.90561757e+02] [ 3.36864187e-01 9.41528715e-01 -6.79688769e-03 1.44582423e+01] [ 1.98963336e-02 9.89666707e-05 9.99802043e-01 2.29695155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.62, Y:14.48, Z:2.30 [[ 9.39789322e-01 -3.41242407e-01 -1.86989252e-02 2.90617495e+02] [ 3.41174671e-01 9.39975329e-01 -6.79882928e-03 1.44787986e+01] [ 1.98965772e-02 9.86751614e-06 9.99802043e-01 2.29658046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.802320588 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:290.67, Y:14.50, Z:2.32 [[ 9.43043531e-01 -3.32143555e-01 -1.86964406e-02 2.90673173e+02] [ 3.32073889e-01 9.43228824e-01 -6.80565495e-03 1.44983127e+01] [ 1.98954761e-02 2.09429145e-04 9.99802043e-01 2.31801752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.862320588 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:290.73, Y:14.51, Z:2.30 [[ 9.33371588e-01 -3.58424350e-01 -1.86939419e-02 2.90730660e+02] [ 3.58359764e-01 9.33558712e-01 -6.81251155e-03 1.45148963e+01] [ 1.98936623e-02 -3.40551869e-04 9.99802044e-01 2.29934955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.79, Y:14.53, Z:2.30 [[ 9.30570101e-01 -3.65636319e-01 -1.86914314e-02 2.90788939e+02] [ 3.65573044e-01 9.30757673e-01 -6.81939248e-03 1.45287929e+01] [ 1.98906108e-02 -4.87160733e-04 9.99802044e-01 2.30147292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:290.85, Y:14.54, Z:2.30 [[ 9.28180047e-01 -3.71661838e-01 -1.86890179e-02 2.90845671e+02] [ 3.71599648e-01 9.28367981e-01 -6.82600040e-03 1.45448619e+01] [ 1.98872497e-02 -6.09075112e-04 9.99802044e-01 2.30292070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:290.90, Y:14.56, Z:2.30 [[ 9.26978237e-01 -3.74649380e-01 -1.86866206e-02 2.90902659e+02] [ 3.74587664e-01 9.27166327e-01 -6.83255688e-03 1.45613801e+01] [ 1.98854186e-02 -6.66146042e-04 9.99802044e-01 2.30288156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.96, Y:14.58, Z:2.31 [[ 9.26930636e-01 -3.74767254e-01 -1.86842370e-02 2.90959691e+02] [ 3.74705430e-01 9.27118691e-01 -6.83906893e-03 1.45760511e+01] [ 1.98855644e-02 -6.61742541e-04 9.99802044e-01 2.30595668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.02, Y:14.59, Z:2.31 [[ 9.25416050e-01 -3.78491922e-01 -1.86815154e-02 2.91018143e+02] [ 3.78430706e-01 9.25604303e-01 -6.84649507e-03 1.45893655e+01] [ 1.98830341e-02 -7.33802646e-04 9.99802044e-01 2.30662787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:291.08, Y:14.60, Z:2.31 [[ 9.24246788e-01 -3.81338385e-01 -1.86791457e-02 2.91076488e+02] [ 3.81277618e-01 9.24435187e-01 -6.85295419e-03 1.46010929e+01] [ 1.98809540e-02 -7.88119295e-04 9.99802044e-01 2.30729809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.14, Y:14.61, Z:2.31 [[ 9.24076299e-01 -3.81751470e-01 -1.86764544e-02 2.91135274e+02] [ 3.81690639e-01 9.24264677e-01 -6.86028098e-03 1.46135392e+01] [ 1.98809095e-02 -7.89204765e-04 9.99802044e-01 2.31012655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34232058799995 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:291.19, Y:14.63, Z:2.34 [[ 9.37266092e-01 -3.48114279e-01 -1.86740844e-02 2.91190404e+02] [ 3.48046554e-01 9.37452102e-01 -6.86672619e-03 1.46344604e+01] [ 1.98964652e-02 -6.35011107e-05 9.99802044e-01 2.33944620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40232058799995 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:291.25, Y:14.65, Z:2.34 [[ 9.41113909e-01 -3.37573581e-01 -1.86731768e-02 2.91246512e+02] [ 3.37503723e-01 9.41299130e-01 -6.86919356e-03 1.46538284e+01] [ 1.98959033e-02 1.62426928e-04 9.99802044e-01 2.34109369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46232058799995 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:291.30, Y:14.68, Z:2.34 [[ 9.43936685e-01 -3.29598150e-01 -1.86706640e-02 2.91301202e+02] [ 3.29526593e-01 9.44121255e-01 -6.87601657e-03 1.46774871e+01] [ 1.98936931e-02 3.38043991e-04 9.99802044e-01 2.33814610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52232058799996 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:291.36, Y:14.70, Z:2.34 [[ 9.45858107e-01 -3.24043117e-01 -1.86681587e-02 2.91356682e+02] [ 3.23970341e-01 9.46042200e-01 -6.88281156e-03 1.46989792e+01] [ 1.98911937e-02 4.62233357e-04 9.99802044e-01 2.33661679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.41, Y:14.72, Z:2.32 [[ 9.43163693e-01 -3.31803907e-01 -1.86659111e-02 2.91413031e+02] [ 3.31732526e-01 9.43348331e-01 -6.88890167e-03 1.47206963e+01] [ 1.98942206e-02 3.05272103e-04 9.99802044e-01 2.31555271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64232058799996 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:291.47, Y:14.74, Z:2.34 [[ 9.49401174e-01 -3.13510887e-01 -1.86637439e-02 2.91468228e+02] [ 3.13435835e-01 9.49584351e-01 -6.89476828e-03 1.47437415e+01] [ 1.98843840e-02 6.96014946e-04 9.99802044e-01 2.34062995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70232058799996 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:291.52, Y:14.77, Z:2.34 [[ 9.49842162e-01 -3.12172417e-01 -1.86614440e-02 2.91521292e+02] [ 3.12096985e-01 9.50025183e-01 -6.90098741e-03 1.47691772e+01] [ 1.98831397e-02 7.30668385e-04 9.99802044e-01 2.33946351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.58, Y:14.79, Z:2.32 [[ 9.46487355e-01 -3.22200982e-01 -1.86605142e-02 2.91575093e+02] [ 3.22127441e-01 9.46671143e-01 -6.90350076e-03 1.47944086e+01] [ 1.98896850e-02 5.23012484e-04 9.99802044e-01 2.32118698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.63, Y:14.82, Z:2.32 [[ 9.46012789e-01 -3.23591725e-01 -1.86600585e-02 2.91629313e+02] [ 3.23518430e-01 9.46196676e-01 -6.90473240e-03 1.48171161e+01] [ 1.98903996e-02 4.95092336e-04 9.99802044e-01 2.32263206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88232058799997 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:291.68, Y:14.84, Z:2.34 [[ 9.49093364e-01 -3.14441880e-01 -1.86571670e-02 2.91684364e+02] [ 3.14366659e-01 9.49276472e-01 -6.91253663e-03 1.48367765e+01] [ 1.98844007e-02 6.95451391e-04 9.99802044e-01 2.33903931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.74, Y:14.86, Z:2.32 [[ 9.43690903e-01 -3.30302112e-01 -1.86546077e-02 2.91738043e+02] [ 3.30229833e-01 9.43875192e-01 -6.91943631e-03 1.48610882e+01] [ 1.98931259e-02 3.69501102e-04 9.99802044e-01 2.32250100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002320588 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:291.79, Y:14.88, Z:2.34 [[ 9.46717373e-01 -3.21524915e-01 -1.86532748e-02 2.91794103e+02] [ 3.21450858e-01 9.46900954e-01 -6.92302771e-03 1.48802580e+01] [ 1.98887296e-02 5.58039417e-04 9.99802044e-01 2.34262617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.85, Y:14.90, Z:2.33 [[ 9.42932449e-01 -3.32461335e-01 -1.86509307e-02 2.91850209e+02] [ 3.32389283e-01 9.43116827e-01 -6.92933713e-03 1.48996639e+01] [ 1.98937432e-02 3.34527361e-04 9.99802044e-01 2.33374860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.91, Y:14.92, Z:2.33 [[ 9.38803162e-01 -3.43948815e-01 -1.86503820e-02 2.91907097e+02] [ 3.43878990e-01 9.38988394e-01 -6.93081364e-03 1.49174173e+01] [ 1.98963374e-02 9.31952361e-05 9.99802044e-01 2.32513897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.96, Y:14.94, Z:2.33 [[ 9.40698738e-01 -3.38730188e-01 -1.86478955e-02 2.91963140e+02] [ 3.38659203e-01 9.40883529e-01 -6.93749727e-03 1.49358458e+01] [ 1.98954375e-02 2.10813496e-04 9.99802044e-01 2.33272966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.02, Y:14.96, Z:2.32 [[ 9.38161034e-01 -3.45696725e-01 -1.86453192e-02 2.92018683e+02] [ 3.45626975e-01 9.38346295e-01 -6.94441450e-03 1.49571020e+01] [ 1.98964275e-02 7.06538234e-05 9.99802044e-01 2.32317525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.302320588 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:292.07, Y:14.98, Z:2.35 [[ 9.44826252e-01 -3.27040976e-01 -1.86428065e-02 2.92074246e+02] [ 3.26967436e-01 9.45010041e-01 -6.95115348e-03 1.49773999e+01] [ 1.98909513e-02 4.72041641e-04 9.99802044e-01 2.35393317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.13, Y:14.99, Z:2.33 [[ 9.36082457e-01 -3.51286425e-01 -1.86408523e-02 2.92132636e+02] [ 3.51217542e-01 9.36268042e-01 -6.95639019e-03 1.49926752e+01] [ 1.98965197e-02 -3.52394947e-05 9.99802044e-01 2.32704191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.422320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:15.01, Z:2.34 [[ 9.41529437e-01 -3.36414807e-01 -1.86386132e-02 2.92186928e+02] [ 3.36342875e-01 9.41713861e-01 -6.96238435e-03 1.50137209e+01] [ 1.98944896e-02 2.86325075e-04 9.99802044e-01 2.34195863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:292.24, Y:15.03, Z:2.33 [[ 9.34401199e-01 -3.55734606e-01 -1.86356939e-02 2.92244939e+02] [ 3.55666331e-01 9.34587009e-01 -6.97018948e-03 1.50290588e+01] [ 1.98962150e-02 -1.15135460e-04 9.99802044e-01 2.32957785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.30, Y:15.05, Z:2.33 [[ 9.33013616e-01 -3.59358314e-01 -1.86331501e-02 2.92300106e+02] [ 3.59290626e-01 9.33199640e-01 -6.97698299e-03 1.50497024e+01] [ 1.98956858e-02 -1.85096037e-04 9.99802044e-01 2.32691496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.36, Y:15.07, Z:2.33 [[ 9.32019875e-01 -3.61927965e-01 -1.86306207e-02 2.92356295e+02] [ 3.61860655e-01 9.32206036e-01 -6.98373087e-03 1.50670628e+01] [ 1.98951845e-02 -2.32712618e-04 9.99802044e-01 2.32862731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.41, Y:15.09, Z:2.33 [[ 9.30646520e-01 -3.65445020e-01 -1.86277386e-02 2.92412792e+02] [ 3.65378260e-01 9.30832878e-01 -6.99140984e-03 1.50850403e+01] [ 1.98942874e-02 -2.99639467e-04 9.99802044e-01 2.32922096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.47, Y:15.10, Z:2.33 [[ 9.28860134e-01 -3.69962096e-01 -1.86252304e-02 2.92468859e+02] [ 3.69896108e-01 9.29046768e-01 -6.99808535e-03 1.51030053e+01] [ 1.98927364e-02 -3.89157716e-04 9.99802044e-01 2.32963588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.52, Y:15.12, Z:2.33 [[ 9.29439871e-01 -3.68503351e-01 -1.86227449e-02 2.92523562e+02] [ 3.68436938e-01 9.29626354e-01 -7.00469322e-03 1.51228414e+01] [ 1.98934474e-02 -3.50865937e-04 9.99802044e-01 2.32864641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.58, Y:15.14, Z:2.33 [[ 9.31456607e-01 -3.63375687e-01 -1.86198666e-02 2.92579019e+02] [ 3.63308094e-01 9.31642665e-01 -7.01233611e-03 1.51416650e+01] [ 1.98951746e-02 -2.33061420e-04 9.99802044e-01 2.33024981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.63, Y:15.16, Z:2.33 [[ 9.32639452e-01 -3.60329100e-01 -1.86169748e-02 2.92634033e+02] [ 3.60260746e-01 9.32825232e-01 -7.02000512e-03 1.51629400e+01] [ 1.98958959e-02 -1.59831485e-04 9.99802044e-01 2.32991420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.69, Y:15.18, Z:2.34 [[ 9.34617644e-01 -3.55166669e-01 -1.86144423e-02 2.92690272e+02] [ 3.55097156e-01 9.34802993e-01 -7.02671395e-03 1.51820334e+01] [ 1.98964909e-02 -4.26446662e-05 9.99802044e-01 2.33631748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.74, Y:15.21, Z:2.34 [[ 9.35978406e-01 -3.51565104e-01 -1.86118719e-02 2.92744380e+02] [ 3.51494742e-01 9.36163434e-01 -7.03351547e-03 1.52053996e+01] [ 1.98964925e-02 4.12434720e-05 9.99802044e-01 2.33523923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.80, Y:15.23, Z:2.34 [[ 9.36498883e-01 -3.50176456e-01 -1.86089277e-02 2.92799209e+02] [ 3.50105665e-01 9.36683748e-01 -7.04129668e-03 1.52273985e+01] [ 1.98963764e-02 7.90754776e-05 9.99802044e-01 2.33604232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.86, Y:15.25, Z:2.34 [[ 9.36279317e-01 -3.50763230e-01 -1.86063529e-02 2.92855090e+02] [ 3.50692420e-01 9.36464175e-01 -7.04809395e-03 1.52461023e+01] [ 1.98963951e-02 7.38776889e-05 9.99802044e-01 2.33835674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.91, Y:15.27, Z:2.34 [[ 9.36358362e-01 -3.50552305e-01 -1.86037644e-02 2.92909105e+02] [ 3.50481318e-01 9.36543151e-01 -7.05491973e-03 1.52675873e+01] [ 1.98963465e-02 8.56612181e-05 9.99802044e-01 2.33809809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.96, Y:15.29, Z:2.34 [[ 9.35542303e-01 -3.52724551e-01 -1.86008160e-02 2.92964065e+02] [ 3.52653838e-01 9.35727198e-01 -7.06268488e-03 1.52873783e+01] [ 1.98964718e-02 4.77913286e-05 9.99802044e-01 2.34002615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.02, Y:15.31, Z:2.34 [[ 9.34993009e-01 -3.54178193e-01 -1.85978606e-02 2.93018997e+02] [ 3.54107613e-01 9.35177955e-01 -7.07045863e-03 1.53060954e+01] [ 1.98965115e-02 2.51853687e-05 9.99802045e-01 2.34267011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.07, Y:15.33, Z:2.35 [[ 9.35577614e-01 -3.52631192e-01 -1.85948971e-02 2.93074016e+02] [ 3.52560151e-01 9.35762383e-01 -7.07824382e-03 1.53272810e+01] [ 1.98964148e-02 6.64267364e-05 9.99802045e-01 2.34527259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.13, Y:15.35, Z:2.34 [[ 9.36003500e-01 -3.51499323e-01 -1.85923182e-02 2.93127990e+02] [ 3.51427925e-01 9.36188131e-01 -7.08501121e-03 1.53516393e+01] [ 1.98962843e-02 9.77354806e-05 9.99802045e-01 2.34417912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.18, Y:15.37, Z:2.35 [[ 9.37777845e-01 -3.46737847e-01 -1.85897361e-02 2.93182095e+02] [ 3.46665377e-01 9.37962058e-01 -7.09177989e-03 1.53735921e+01] [ 1.98954556e-02 2.06096202e-04 9.99802045e-01 2.34761137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.24, Y:15.40, Z:2.35 [[ 9.38740817e-01 -3.44122267e-01 -1.85888141e-02 2.93235048e+02] [ 3.44049236e-01 9.38924808e-01 -7.09419564e-03 1.53987300e+01] [ 1.98947694e-02 2.64143710e-04 9.99802045e-01 2.34678556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.29, Y:15.42, Z:2.35 [[ 9.39149596e-01 -3.43005251e-01 -1.85858418e-02 2.93288874e+02] [ 3.42931847e-01 9.39333439e-01 -7.10197421e-03 1.54207630e+01] [ 1.98943171e-02 2.96139144e-04 9.99802045e-01 2.34831193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.682320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:293.34, Y:15.44, Z:2.35 [[ 9.38813685e-01 -3.43923745e-01 -1.85828543e-02 2.93343484e+02] [ 3.43850367e-01 9.38997538e-01 -7.10978272e-03 1.54421957e+01] [ 1.98944775e-02 2.85040056e-04 9.99802045e-01 2.34952724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.40, Y:15.46, Z:2.35 [[ 9.37192568e-01 -3.48317210e-01 -1.85798770e-02 2.93399758e+02] [ 3.48244540e-01 9.37376702e-01 -7.11755462e-03 1.54614232e+01] [ 1.98955106e-02 2.00178573e-04 9.99802045e-01 2.35054267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.46, Y:15.47, Z:2.35 [[ 9.34689062e-01 -3.54980622e-01 -1.85772657e-02 2.93456791e+02] [ 3.54909129e-01 9.34873657e-01 -7.12436391e-03 1.54745670e+01] [ 1.98964074e-02 6.58238494e-05 9.99802045e-01 2.35257236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.51, Y:15.49, Z:2.35 [[ 9.34931636e-01 -3.54341406e-01 -1.85742714e-02 2.93511080e+02] [ 3.54269631e-01 9.35116121e-01 -7.13216177e-03 1.54947852e+01] [ 1.98963209e-02 8.77833742e-05 9.99802045e-01 2.35263292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.56, Y:15.52, Z:2.35 [[ 9.35164602e-01 -3.53726272e-01 -1.85712821e-02 2.93563707e+02] [ 3.53654222e-01 9.35348979e-01 -7.13993708e-03 1.55193386e+01] [ 1.98962131e-02 1.09204073e-04 9.99802045e-01 2.35049018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:293.62, Y:15.54, Z:2.36 [[ 9.34744964e-01 -3.54833864e-01 -1.85682956e-02 2.93619370e+02] [ 3.54761878e-01 9.34929366e-01 -7.14769563e-03 1.55382613e+01] [ 1.98962893e-02 9.39490836e-05 9.99802045e-01 2.35562338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.67, Y:15.56, Z:2.36 [[ 9.34714651e-01 -3.54913845e-01 -1.85656784e-02 2.93673946e+02] [ 3.54841740e-01 9.34899007e-01 -7.15448709e-03 1.55598395e+01] [ 1.98962608e-02 9.95262737e-05 9.99802045e-01 2.35677388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10232058799994 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:293.73, Y:15.58, Z:2.36 [[ 9.34648990e-01 -3.55086881e-01 -1.85626748e-02 2.93728181e+02] [ 3.55014656e-01 9.34833299e-01 -7.16227151e-03 1.55818727e+01] [ 1.98962352e-02 1.04188216e-04 9.99802045e-01 2.35620138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16232058799994 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:293.78, Y:15.61, Z:2.38 [[ 9.41259459e-01 -3.37173797e-01 -1.85596816e-02 2.93781828e+02] [ 3.37097913e-01 9.41442291e-01 -7.17001949e-03 1.56063370e+01] [ 1.98904119e-02 4.92418731e-04 9.99802045e-01 2.37864836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.84, Y:15.63, Z:2.36 [[ 9.36157693e-01 -3.51090302e-01 -1.85573059e-02 2.93837311e+02] [ 3.51017014e-01 9.36341582e-01 -7.17616289e-03 1.56298844e+01] [ 1.98954584e-02 2.04089970e-04 9.99802045e-01 2.36003007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28232058799995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:293.89, Y:15.65, Z:2.36 [[ 9.36531724e-01 -3.50091378e-01 -1.85568531e-02 2.93891187e+02] [ 3.50017871e-01 9.36715525e-01 -7.17733372e-03 1.56532305e+01] [ 1.98952151e-02 2.26570507e-04 9.99802045e-01 2.36156642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:293.95, Y:15.67, Z:2.37 [[ 9.37657109e-01 -3.47066132e-01 -1.85538498e-02 2.93945697e+02] [ 3.46991879e-01 9.37840610e-01 -7.18508907e-03 1.56748866e+01] [ 1.98942549e-02 2.99114648e-04 9.99802045e-01 2.36629821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.00, Y:15.70, Z:2.36 [[ 9.38420570e-01 -3.44996667e-01 -1.85508530e-02 2.93998148e+02] [ 3.44921856e-01 9.38603844e-01 -7.19281796e-03 1.57003058e+01] [ 1.98934002e-02 3.51293670e-04 9.99802045e-01 2.36464067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.05, Y:15.72, Z:2.37 [[ 9.39431052e-01 -3.42235703e-01 -1.85478514e-02 2.94051488e+02] [ 3.42160201e-01 9.39614042e-01 -7.20054973e-03 1.57235678e+01] [ 1.98921069e-02 4.18083423e-04 9.99802045e-01 2.36820975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:294.11, Y:15.75, Z:2.37 [[ 9.40153293e-01 -3.40246784e-01 -1.85448362e-02 2.94105945e+02] [ 3.40170742e-01 9.40336060e-01 -7.20830697e-03 1.57453640e+01] [ 1.98909815e-02 4.68502838e-04 9.99802045e-01 2.36980010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58232058799996 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:294.16, Y:15.77, Z:2.39 [[ 9.44754871e-01 -3.27252860e-01 -1.85418309e-02 2.94159795e+02] [ 3.27174154e-01 9.44936507e-01 -7.21602930e-03 1.57707475e+01] [ 1.98823191e-02 7.50970988e-04 9.99802045e-01 2.38553660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.21, Y:15.79, Z:2.37 [[ 9.40837749e-01 -3.38349848e-01 -1.85394264e-02 2.94214937e+02] [ 3.38273164e-01 9.41020248e-01 -7.22220165e-03 1.57921532e+01] [ 1.98896064e-02 5.23529523e-04 9.99802045e-01 2.37228706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70232058799996 meters Centerline goodness : 0.999857 with order 1 Centerline is valid? [True, True] Translation: X:294.27, Y:15.81, Z:2.39 [[ 9.44218374e-01 -3.28797782e-01 -1.85386429e-02 2.94271072e+02] [ 3.28719213e-01 9.44400069e-01 -7.22421228e-03 1.58129119e+01] [ 1.98832006e-02 7.27225868e-04 9.99802045e-01 2.38869881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76232058799997 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:294.33, Y:15.84, Z:2.37 [[ 9.40724328e-01 -3.38665240e-01 -1.85363009e-02 2.94326396e+02] [ 3.38588460e-01 9.40906786e-01 -7.23021639e-03 1.58368979e+01] [ 1.98895543e-02 5.25462873e-04 9.99802045e-01 2.37473976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82232058799997 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:294.38, Y:15.86, Z:2.37 [[ 9.41508418e-01 -3.36479341e-01 -1.85351520e-02 2.94379577e+02] [ 3.36402078e-01 9.41690673e-01 -7.23316048e-03 1.58606376e+01] [ 1.98881889e-02 5.74817807e-04 9.99802045e-01 2.37433441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88232058799997 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:294.43, Y:15.88, Z:2.39 [[ 9.46220670e-01 -3.22990718e-01 -1.85321396e-02 2.94434181e+02] [ 3.22910709e-01 9.46401735e-01 -7.24087035e-03 1.58835789e+01] [ 1.98775830e-02 8.67234844e-04 9.99802045e-01 2.39400626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942320588 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:294.49, Y:15.90, Z:2.40 [[ 9.46788317e-01 -3.21322988e-01 -1.85316106e-02 2.94489386e+02] [ 3.21242634e-01 9.46969229e-01 -7.24222420e-03 1.59043724e+01] [ 1.98759581e-02 9.03709879e-04 9.99802045e-01 2.39679252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002320588 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:294.54, Y:15.93, Z:2.40 [[ 9.47456742e-01 -3.19346841e-01 -1.85288273e-02 2.94542545e+02] [ 3.19265970e-01 9.47637424e-01 -7.24933814e-03 1.59271746e+01] [ 1.98736634e-02 9.52810295e-04 9.99802045e-01 2.39661773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062320588 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:294.60, Y:15.95, Z:2.40 [[ 9.47417155e-01 -3.19464352e-01 -1.85273658e-02 2.94598128e+02] [ 3.19383431e-01 9.47597814e-01 -7.25307122e-03 1.59480929e+01] [ 1.98735891e-02 9.54350440e-04 9.99802045e-01 2.39619912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.65, Y:15.97, Z:2.39 [[ 9.46492070e-01 -3.22194977e-01 -1.85245338e-02 2.94654040e+02] [ 3.22114436e-01 9.46672899e-01 -7.26029709e-03 1.59689047e+01] [ 1.98759054e-02 9.04793869e-04 9.99802045e-01 2.39094911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.182320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:294.71, Y:15.99, Z:2.40 [[ 9.46604817e-01 -3.21863610e-01 -1.85239478e-02 2.94710207e+02] [ 3.21782976e-01 9.46785605e-01 -7.26179186e-03 1.59874380e+01] [ 1.98755137e-02 9.13356095e-04 9.99802045e-01 2.39811283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.242320588 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:294.77, Y:16.01, Z:2.40 [[ 9.46162153e-01 -3.23162608e-01 -1.85231857e-02 2.94766391e+02] [ 3.23082185e-01 9.46343035e-01 -7.26373524e-03 1.60069753e+01] [ 1.98766554e-02 8.88160048e-04 9.99802045e-01 2.39861351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.82, Y:16.03, Z:2.38 [[ 9.39787390e-01 -3.41257460e-01 -1.85204571e-02 2.94822431e+02] [ 3.41180386e-01 9.39969724e-01 -7.27068581e-03 1.60250777e+01] [ 1.98898447e-02 5.14082142e-04 9.99802045e-01 2.37896505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.88, Y:16.04, Z:2.38 [[ 9.39314100e-01 -3.42558079e-01 -1.85198290e-02 2.94878714e+02] [ 3.42481225e-01 9.39496527e-01 -7.27228528e-03 1.60420025e+01] [ 1.98904951e-02 4.88266361e-04 9.99802045e-01 2.38267525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.422320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:294.93, Y:16.07, Z:2.40 [[ 9.45918097e-01 -3.23876647e-01 -1.85167921e-02 2.94933344e+02] [ 3.23796043e-01 9.46098898e-01 -7.28000972e-03 1.60666260e+01] [ 1.98765418e-02 8.90628925e-04 9.99802045e-01 2.39877079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:294.99, Y:16.09, Z:2.40 [[ 9.45602579e-01 -3.24796829e-01 -1.85143781e-02 2.94987888e+02] [ 3.24716280e-01 9.45783405e-01 -7.28614391e-03 1.60866015e+01] [ 1.98771080e-02 8.77876490e-04 9.99802045e-01 2.40010200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.04, Y:16.11, Z:2.38 [[ 9.40567835e-01 -3.39100993e-01 -1.85112168e-02 2.95042956e+02] [ 3.39023038e-01 9.40749794e-01 -7.29416667e-03 1.61094927e+01] [ 1.98878825e-02 5.84929599e-04 9.99802045e-01 2.38290345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:295.10, Y:16.14, Z:2.40 [[ 9.47801093e-01 -3.18324514e-01 -1.85092292e-02 2.95095377e+02] [ 3.18242477e-01 9.47981248e-01 -7.29920673e-03 1.61394219e+01] [ 1.98699187e-02 1.02777316e-03 9.99802045e-01 2.39817206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:295.15, Y:16.17, Z:2.40 [[ 9.51224256e-01 -3.07944657e-01 -1.85068283e-02 2.95147974e+02] [ 3.07860538e-01 9.51403449e-01 -7.30528917e-03 1.61683539e+01] [ 1.98570850e-02 1.25144615e-03 9.99802045e-01 2.40327040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.20, Y:16.20, Z:2.39 [[ 9.48480874e-01 -3.16293572e-01 -1.85042392e-02 2.95199927e+02] [ 3.16210904e-01 9.48660741e-01 -7.31184135e-03 1.61972610e+01] [ 1.98669337e-02 1.08389948e-03 9.99802045e-01 2.38772117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.25, Y:16.23, Z:2.40 [[ 9.55143715e-01 -2.95564035e-01 -1.85036271e-02 2.95249857e+02] [ 2.95477440e-01 9.55321724e-01 -7.31338996e-03 1.62300582e+01] [ 1.98384920e-02 1.51793409e-03 9.99802045e-01 2.40074366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84232058799995 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:295.30, Y:16.26, Z:2.40 [[ 9.57215359e-01 -2.88784351e-01 -1.85028612e-02 2.95302833e+02] [ 2.88696458e-01 9.57392731e-01 -7.31532733e-03 1.62579616e+01] [ 1.98270568e-02 1.66063318e-03 9.99802045e-01 2.40425200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.35, Y:16.29, Z:2.39 [[ 9.55207481e-01 -2.95358093e-01 -1.85004040e-02 2.95354399e+02] [ 2.95271302e-01 9.55385395e-01 -7.32153630e-03 1.62906188e+01] [ 1.98374908e-02 1.53094788e-03 9.99802045e-01 2.39387785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.41, Y:16.32, Z:2.41 [[ 9.58605480e-01 -2.84136073e-01 -1.84993255e-02 2.95405777e+02] [ 2.84047150e-01 9.58782338e-01 -7.32426023e-03 1.63214556e+01] [ 1.98179131e-02 1.76639530e-03 9.99802045e-01 2.40501150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02232058799996 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:295.46, Y:16.35, Z:2.41 [[ 9.59696979e-01 -2.80427500e-01 -1.84966384e-02 2.95460079e+02] [ 2.80337764e-01 9.59873426e-01 -7.33103996e-03 1.63455446e+01] [ 1.98102569e-02 1.85027066e-03 9.99802046e-01 2.40999066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.51, Y:16.38, Z:2.40 [[ 9.55459181e-01 -2.94543240e-01 -1.84941456e-02 2.95511765e+02] [ 2.94455995e-01 9.55636872e-01 -7.33732309e-03 1.63779707e+01] [ 1.98348464e-02 1.56480066e-03 9.99802046e-01 2.39704297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.56, Y:16.41, Z:2.40 [[ 9.55133869e-01 -2.95596469e-01 -1.84937687e-02 2.95563695e+02] [ 2.95509401e-01 9.55311647e-01 -7.33827297e-03 1.64063038e+01] [ 1.98364803e-02 1.54395054e-03 9.99802046e-01 2.40136783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.62, Y:16.43, Z:2.40 [[ 9.54656187e-01 -2.97135757e-01 -1.84907093e-02 2.95617334e+02] [ 2.97048827e-01 9.54834033e-01 -7.34597401e-03 1.64302610e+01] [ 1.98383101e-02 1.52023603e-03 9.99802046e-01 2.40342505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.67, Y:16.46, Z:2.41 [[ 9.57643539e-01 -2.87362243e-01 -1.84876527e-02 2.95668476e+02] [ 2.87273353e-01 9.57820413e-01 -7.35365849e-03 1.64607866e+01] [ 1.98210149e-02 1.73117356e-03 9.99802046e-01 2.41491532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32232058799997 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:295.72, Y:16.49, Z:2.42 [[ 9.57204141e-01 -2.88822552e-01 -1.84868841e-02 2.95720600e+02] [ 2.88733895e-01 9.57381133e-01 -7.35559032e-03 1.64891679e+01] [ 1.98234544e-02 1.70301147e-03 9.99802046e-01 2.41855189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.77, Y:16.52, Z:2.41 [[ 9.52824687e-01 -3.02957836e-01 -1.84841927e-02 2.95774873e+02] [ 3.02871678e-01 9.53002908e-01 -7.36234741e-03 1.65152571e+01] [ 1.98459702e-02 1.41668792e-03 9.99802046e-01 2.40644772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.83, Y:16.54, Z:2.41 [[ 9.50889058e-01 -3.08979527e-01 -1.84838120e-02 2.95827650e+02] [ 3.08894479e-01 9.51067812e-01 -7.36330298e-03 1.65403390e+01] [ 1.98544685e-02 1.29213675e-03 9.99802046e-01 2.40651449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.88, Y:16.56, Z:2.41 [[ 9.49222748e-01 -3.14061518e-01 -1.84807394e-02 2.95881668e+02] [ 3.13977278e-01 9.49401884e-01 -7.37100677e-03 1.65619766e+01] [ 1.98605983e-02 1.19419506e-03 9.99802046e-01 2.41030695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:295.93, Y:16.59, Z:2.42 [[ 9.51692658e-01 -3.06495777e-01 -1.84776635e-02 2.95934375e+02] [ 3.06409966e-01 9.51871046e-01 -7.37870928e-03 1.65885795e+01] [ 1.98498961e-02 1.36052320e-03 9.99802046e-01 2.42236798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.99, Y:16.61, Z:2.41 [[ 9.44893542e-01 -3.26855919e-01 -1.84770842e-02 2.95990653e+02] [ 3.26773929e-01 9.45073718e-01 -7.38015969e-03 1.66100400e+01] [ 1.98744555e-02 9.35635829e-04 9.99802046e-01 2.41195122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.682320588 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:296.05, Y:16.63, Z:2.43 [[ 9.49023554e-01 -3.14663161e-01 -1.84766993e-02 2.96045056e+02] [ 3.14578839e-01 9.49202651e-01 -7.38112323e-03 1.66334429e+01] [ 1.98606995e-02 1.19248120e-03 9.99802046e-01 2.43152559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.10, Y:16.65, Z:2.41 [[ 9.41439508e-01 -3.36675352e-01 -1.84759384e-02 2.96101842e+02] [ 3.36595186e-01 9.41620503e-01 -7.38302738e-03 1.66527628e+01] [ 1.98830057e-02 7.31761755e-04 9.99802046e-01 2.41499030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.802320588 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:296.16, Y:16.68, Z:2.43 [[ 9.45557762e-01 -3.24929490e-01 -1.84755414e-02 2.96156268e+02] [ 3.24847057e-01 9.45737736e-01 -7.38402074e-03 1.66765655e+01] [ 1.98723028e-02 9.80292878e-04 9.99802046e-01 2.43228746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.21, Y:16.69, Z:2.42 [[ 9.37919705e-01 -3.46360174e-01 -1.84731463e-02 2.96213855e+02] [ 3.46281739e-01 9.38101458e-01 -7.39000773e-03 1.66940085e+01] [ 1.98892898e-02 5.34320630e-04 9.99802046e-01 2.41755970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.27, Y:16.71, Z:2.42 [[ 9.36740216e-01 -3.49537592e-01 -1.84726465e-02 2.96268348e+02] [ 3.49459750e-01 9.36922223e-01 -7.39125690e-03 1.67148437e+01] [ 1.98909552e-02 4.68241160e-04 9.99802046e-01 2.41806388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.32, Y:16.73, Z:2.42 [[ 9.35002149e-01 -3.54160779e-01 -1.84695515e-02 2.96323783e+02] [ 3.54083684e-01 9.35184473e-01 -7.39898265e-03 1.67321668e+01] [ 1.98928673e-02 3.78297821e-04 9.99802046e-01 2.42054904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.38, Y:16.75, Z:2.42 [[ 9.33668099e-01 -3.57663070e-01 -1.84664232e-02 2.96378494e+02] [ 3.57586505e-01 9.33850647e-01 -7.40678212e-03 1.67522676e+01] [ 1.98940137e-02 3.12132442e-04 9.99802046e-01 2.41941736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.43, Y:16.77, Z:2.42 [[ 9.32600053e-01 -3.60438966e-01 -1.84633104e-02 2.96433695e+02] [ 3.60362791e-01 9.32782763e-01 -7.41453339e-03 1.67723396e+01] [ 1.98947445e-02 2.61304150e-04 9.99802046e-01 2.42157399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.49, Y:16.79, Z:2.42 [[ 9.30754129e-01 -3.65179370e-01 -1.84601916e-02 2.96490159e+02] [ 3.65103971e-01 9.30937162e-01 -7.42229036e-03 1.67888709e+01] [ 1.98957457e-02 1.68438140e-04 9.99802046e-01 2.42221324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.55, Y:16.80, Z:2.42 [[ 9.28260238e-01 -3.71473105e-01 -1.84570695e-02 2.96546737e+02] [ 3.71398794e-01 9.28443714e-01 -7.43004602e-03 1.68045971e+01] [ 1.98964124e-02 4.20829347e-05 9.99802046e-01 2.42296742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.60, Y:16.82, Z:2.42 [[ 9.25747453e-01 -3.77691814e-01 -1.84539304e-02 2.96604756e+02] [ 3.77618580e-01 9.25931362e-01 -7.43783447e-03 1.68171601e+01] [ 1.98962821e-02 -8.29906737e-05 9.99802046e-01 2.42498652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.66, Y:16.83, Z:2.43 [[ 9.24009524e-01 -3.81924034e-01 -1.84508120e-02 2.96661455e+02] [ 3.81851488e-01 9.24193705e-01 -7.44556217e-03 1.68325177e+01] [ 1.98957634e-02 -1.65699652e-04 9.99802046e-01 2.42650069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.72, Y:16.85, Z:2.43 [[ 9.23651412e-01 -3.82789433e-01 -1.84477296e-02 2.96718464e+02] [ 3.82716907e-01 9.23835602e-01 -7.45319147e-03 1.68472353e+01] [ 1.98956723e-02 -1.76107193e-04 9.99802046e-01 2.42909750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.78, Y:16.86, Z:2.43 [[ 9.24109114e-01 -3.81683300e-01 -1.84446407e-02 2.96775610e+02] [ 3.81610401e-01 9.24293156e-01 -7.46082776e-03 1.68619415e+01] [ 1.98959286e-02 -1.44047820e-04 9.99802046e-01 2.42997596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.83, Y:16.88, Z:2.43 [[ 9.25253460e-01 -3.78900970e-01 -1.84415229e-02 2.96831977e+02] [ 3.78827364e-01 9.25437221e-01 -7.46852642e-03 1.68769530e+01] [ 1.98963036e-02 -7.58736008e-05 9.99802046e-01 2.42999742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.89, Y:16.89, Z:2.43 [[ 9.26972883e-01 -3.74674925e-01 -1.84384041e-02 2.96888333e+02] [ 3.74600329e-01 9.27156244e-01 -7.47621816e-03 1.68940557e+01] [ 1.98964330e-02 2.32192617e-05 9.99802046e-01 2.43376253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.94, Y:16.91, Z:2.43 [[ 9.28281140e-01 -3.71421952e-01 -1.84352799e-02 2.96942350e+02] [ 3.71346560e-01 9.28464175e-01 -7.48391421e-03 1.69148884e+01] [ 1.98961869e-02 1.01298654e-04 9.99802046e-01 2.43273444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:297.00, Y:16.93, Z:2.44 [[ 9.30633023e-01 -3.65489305e-01 -1.84321547e-02 2.96998888e+02] [ 3.65412595e-01 9.30815509e-01 -7.49160335e-03 1.69299586e+01] [ 1.98950363e-02 2.36592008e-04 9.99802046e-01 2.43732429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.05, Y:16.95, Z:2.44 [[ 9.33014918e-01 -3.59365461e-01 -1.84290149e-02 2.97052720e+02] [ 3.59287400e-01 9.33196830e-01 -7.49931910e-03 1.69520794e+01] [ 1.98928946e-02 3.75663734e-04 9.99802046e-01 2.43804550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.11, Y:16.97, Z:2.44 [[ 9.34619861e-01 -3.55170666e-01 -1.84258957e-02 2.97107807e+02] [ 3.55091638e-01 9.34801355e-01 -7.50697513e-03 1.69702577e+01] [ 1.98908097e-02 4.73286560e-04 9.99802046e-01 2.44022519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.16, Y:16.99, Z:2.44 [[ 9.34954772e-01 -3.54288267e-01 -1.84227734e-02 2.97162057e+02] [ 3.54208917e-01 9.35136126e-01 -7.51462987e-03 1.69905881e+01] [ 1.98901461e-02 5.00328447e-04 9.99802046e-01 2.44152694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.22, Y:17.01, Z:2.44 [[ 9.35630642e-01 -3.52499672e-01 -1.84196228e-02 2.97216404e+02] [ 3.52419823e-01 9.35811777e-01 -7.52234450e-03 1.70108941e+01] [ 1.98889239e-02 5.46695801e-04 9.99802046e-01 2.44274177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.27, Y:17.03, Z:2.45 [[ 9.35786714e-01 -3.52085303e-01 -1.84164511e-02 2.97271359e+02] [ 3.52005222e-01 9.35967746e-01 -7.53010150e-03 1.70292785e+01] [ 1.98884423e-02 5.63881968e-04 9.99802046e-01 2.44562185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.33, Y:17.05, Z:2.45 [[ 9.35836872e-01 -3.51952126e-01 -1.84133141e-02 2.97327702e+02] [ 3.51871868e-01 9.36017826e-01 -7.53776472e-03 1.70466335e+01] [ 1.98881225e-02 5.74990926e-04 9.99802046e-01 2.44811397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.38, Y:17.07, Z:2.45 [[ 9.35844835e-01 -3.51931117e-01 -1.84101778e-02 2.97382868e+02] [ 3.51850705e-01 9.36025720e-01 -7.54541700e-03 1.70659100e+01] [ 1.98878670e-02 5.83705493e-04 9.99802046e-01 2.44716835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.44, Y:17.08, Z:2.45 [[ 9.35636933e-01 -3.52483631e-01 -1.84070383e-02 2.97439740e+02] [ 3.52403175e-01 9.35817799e-01 -7.55306798e-03 1.70808258e+01] [ 1.98879669e-02 5.80230599e-04 9.99802046e-01 2.45189874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.242320588 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:297.50, Y:17.10, Z:2.47 [[ 9.39620538e-01 -3.41722901e-01 -1.84038929e-02 2.97496213e+02] [ 3.41640225e-01 9.39800400e-01 -7.56072450e-03 1.71005347e+01] [ 1.98796586e-02 8.16701910e-04 9.99802046e-01 2.46878156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.302320588 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:297.55, Y:17.12, Z:2.47 [[ 9.40809982e-01 -3.38434567e-01 -1.84016975e-02 2.97551432e+02] [ 3.38351159e-01 9.40989505e-01 -7.56606401e-03 1.71214372e+01] [ 1.98764218e-02 8.91992885e-04 9.99802047e-01 2.47071118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.362320588 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:297.61, Y:17.14, Z:2.47 [[ 9.41120609e-01 -3.37569845e-01 -1.84010619e-02 2.97607854e+02] [ 3.37486241e-01 9.41300042e-01 -7.56760949e-03 1.71427436e+01] [ 1.98755171e-02 9.11928043e-04 9.99802047e-01 2.47071938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.422320588 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:297.66, Y:17.16, Z:2.47 [[ 9.39862603e-01 -3.41056853e-01 -1.83986318e-02 2.97664453e+02] [ 3.40973800e-01 9.40042291e-01 -7.57351296e-03 1.71608793e+01] [ 1.98784905e-02 8.44610212e-04 9.99802047e-01 2.46965338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.72, Y:17.18, Z:2.45 [[ 9.34938202e-01 -3.54333276e-01 -1.83980296e-02 2.97719094e+02] [ 3.54252748e-01 9.35119035e-01 -7.57497561e-03 1.71831235e+01] [ 1.98884136e-02 5.64581541e-04 9.99802047e-01 2.45371698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:297.77, Y:17.20, Z:2.46 [[ 9.33914044e-01 -3.57023952e-01 -1.83971813e-02 2.97774198e+02] [ 3.56943904e-01 9.34095090e-01 -7.57703531e-03 1.72035474e+01] [ 1.98898998e-02 5.09537968e-04 9.99802047e-01 2.45588077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60232058799994 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:297.83, Y:17.23, Z:2.48 [[ 9.39507687e-01 -3.42033575e-01 -1.83940161e-02 2.97829010e+02] [ 3.41950489e-01 9.39687360e-01 -7.58471133e-03 1.72270032e+01] [ 1.98788504e-02 8.36051790e-04 9.99802047e-01 2.47613335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66232058799994 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:297.89, Y:17.24, Z:2.46 [[ 9.30998391e-01 -3.64559648e-01 -1.83917867e-02 2.97885995e+02] [ 3.64480808e-01 9.31179967e-01 -7.59011343e-03 1.72442521e+01] [ 1.98931124e-02 3.62930119e-04 9.99802047e-01 2.45901734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72232058799995 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:297.94, Y:17.27, Z:2.48 [[ 9.35648057e-01 -3.52454930e-01 -1.83912113e-02 2.97941052e+02] [ 3.52373713e-01 9.35828582e-01 -7.59150748e-03 1.72668126e+01] [ 1.98866854e-02 6.22399808e-04 9.99802047e-01 2.47557203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78232058799995 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:298.00, Y:17.29, Z:2.48 [[ 9.34357402e-01 -3.55862462e-01 -1.83889546e-02 2.97997292e+02] [ 3.55781797e-01 9.34538174e-01 -7.59696993e-03 1.72857871e+01] [ 1.98886565e-02 5.55829782e-04 9.99802047e-01 2.47776773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84232058799995 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:298.05, Y:17.30, Z:2.48 [[ 9.31700481e-01 -3.62761858e-01 -1.83860714e-02 2.98054574e+02] [ 3.62682395e-01 9.31881785e-01 -7.60394144e-03 1.73021755e+01] [ 1.98920649e-02 4.16291501e-04 9.99802047e-01 2.48070959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90232058799995 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:298.11, Y:17.32, Z:2.48 [[ 9.28915310e-01 -3.69835644e-01 -1.83832170e-02 2.98112176e+02] [ 3.69757424e-01 9.29097154e-01 -7.61083583e-03 1.73199994e+01] [ 1.98945530e-02 2.72490947e-04 9.99802047e-01 2.47800431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.17, Y:17.33, Z:2.48 [[ 9.25550086e-01 -3.78178758e-01 -1.83811106e-02 2.98169657e+02] [ 3.78102077e-01 9.25732584e-01 -7.61591967e-03 1.73349115e+01] [ 1.98961721e-02 9.89790028e-05 9.99802047e-01 2.47830874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.23, Y:17.35, Z:2.46 [[ 9.17397103e-01 -3.97548478e-01 -1.83783580e-02 2.98227233e+02] [ 3.97475516e-01 9.17581119e-01 -7.62255646e-03 1.73511775e+01] [ 1.98939700e-02 -3.12036110e-04 9.99802047e-01 2.46073426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.28, Y:17.37, Z:2.46 [[ 9.20510003e-01 -3.90286550e-01 -1.83778049e-02 2.98282003e+02] [ 3.90212110e-01 9.20693427e-01 -7.62388961e-03 1.73715753e+01] [ 1.98958258e-02 -1.53375384e-04 9.99802047e-01 2.46276125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.34, Y:17.39, Z:2.47 [[ 9.24292832e-01 -3.81241568e-01 -1.83746590e-02 2.98336191e+02] [ 3.81165183e-01 9.24475454e-01 -7.63146426e-03 1.73939816e+01] [ 1.98963526e-02 4.99274555e-05 9.99802047e-01 2.46602602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20232058799996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:298.39, Y:17.42, Z:2.48 [[ 9.32754560e-01 -3.60043636e-01 -1.83714746e-02 2.98389323e+02] [ 3.59962951e-01 9.32935323e-01 -7.63912250e-03 1.74189250e+01] [ 1.98898150e-02 5.12376142e-04 9.99802047e-01 2.48442234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.44, Y:17.44, Z:2.47 [[ 9.28354537e-01 -3.71241660e-01 -1.83707364e-02 2.98444407e+02] [ 3.71163121e-01 9.28536243e-01 -7.64089722e-03 1.74416763e+01] [ 1.98945139e-02 2.74921737e-04 9.99802047e-01 2.46797388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32232058799997 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:298.50, Y:17.46, Z:2.49 [[ 9.35215988e-01 -3.53600895e-01 -1.83701797e-02 2.98498242e+02] [ 3.53518904e-01 9.35396163e-01 -7.64223552e-03 1.74645861e+01] [ 1.98856969e-02 6.52935057e-04 9.99802047e-01 2.48675067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:298.55, Y:17.49, Z:2.47 [[ 9.30290441e-01 -3.66363563e-01 -1.83694259e-02 2.98552678e+02] [ 3.66284009e-01 9.30471705e-01 -7.64404698e-03 1.74874583e+01] [ 1.98927313e-02 3.82756879e-04 9.99802047e-01 2.46943980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442320588 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:298.61, Y:17.51, Z:2.49 [[ 9.37924372e-01 -3.46353082e-01 -1.83688701e-02 2.98606269e+02] [ 3.46269638e-01 9.38103878e-01 -7.64538217e-03 1.75119888e+01] [ 1.98799100e-02 8.10208256e-04 9.99802047e-01 2.49271863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502320588 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:298.66, Y:17.54, Z:2.49 [[ 9.38500719e-01 -3.44788354e-01 -1.83682416e-02 2.98660683e+02] [ 3.44704581e-01 9.38680072e-01 -7.64689185e-03 1.75357819e+01] [ 1.98784616e-02 8.44996466e-04 9.99802047e-01 2.49334886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.72, Y:17.56, Z:2.47 [[ 9.30550777e-01 -3.65701903e-01 -1.83676291e-02 2.98716313e+02] [ 3.65622135e-01 9.30731947e-01 -7.64836285e-03 1.75562611e+01] [ 1.98923601e-02 4.01578215e-04 9.99802047e-01 2.47290475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622320588 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:298.77, Y:17.58, Z:2.49 [[ 9.37160314e-01 -3.48415269e-01 -1.83669774e-02 2.98769262e+02] [ 3.48332131e-01 9.37339962e-01 -7.64992767e-03 1.75837126e+01] [ 1.98814535e-02 7.71400243e-04 9.99802047e-01 2.49033760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.682320588 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:298.83, Y:17.60, Z:2.48 [[ 9.30735931e-01 -3.65230500e-01 -1.83659722e-02 2.98825381e+02] [ 3.65150562e-01 9.30917026e-01 -7.65234023e-03 1.76029495e+01] [ 1.98920642e-02 4.15962955e-04 9.99802047e-01 2.47692009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.742320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:298.88, Y:17.63, Z:2.48 [[ 9.30586329e-01 -3.65611539e-01 -1.83653770e-02 2.98879350e+02] [ 3.65531647e-01 9.30767444e-01 -7.65376826e-03 1.76254803e+01] [ 1.98922010e-02 4.09365610e-04 9.99802047e-01 2.47808414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.802320588 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:298.93, Y:17.65, Z:2.49 [[ 9.35747349e-01 -3.52192746e-01 -1.83621476e-02 2.98933851e+02] [ 3.52110106e-01 9.35927227e-01 -7.66150809e-03 1.76493711e+01] [ 1.98839615e-02 7.03738129e-04 9.99802047e-01 2.49408892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.862320588 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:17.67, Z:2.50 [[ 9.36199731e-01 -3.50988586e-01 -1.83596418e-02 2.98988648e+02] [ 3.50905597e-01 9.36379448e-01 -7.66750815e-03 1.76698348e+01] [ 1.98827991e-02 7.35817987e-04 9.99802047e-01 2.49745205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.04, Y:17.69, Z:2.48 [[ 9.30900538e-01 -3.64811222e-01 -1.83564790e-02 2.99044477e+02] [ 3.64730754e-01 9.31081398e-01 -7.67507257e-03 1.76929886e+01] [ 1.98913288e-02 4.49556743e-04 9.99802047e-01 2.48296313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.10, Y:17.72, Z:2.48 [[ 9.31360094e-01 -3.63636485e-01 -1.83543695e-02 2.99097853e+02] [ 3.63555690e-01 9.31540808e-01 -7.68011410e-03 1.77190184e+01] [ 1.98906139e-02 4.80116318e-04 9.99802047e-01 2.48203171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.15, Y:17.74, Z:2.49 [[ 9.31958236e-01 -3.62100905e-01 -1.83515716e-02 2.99151689e+02] [ 3.62019681e-01 9.32138758e-01 -7.68679386e-03 1.77419882e+01] [ 1.98896062e-02 5.20140761e-04 9.99802047e-01 2.48603900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.20, Y:17.77, Z:2.49 [[ 9.32583392e-01 -3.60487940e-01 -1.83483641e-02 2.99204426e+02] [ 3.60406254e-01 9.32763704e-01 -7.69444247e-03 1.77677091e+01] [ 1.98884418e-02 5.62844080e-04 9.99802047e-01 2.48685690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:299.26, Y:17.79, Z:2.49 [[ 9.32661258e-01 -3.60286600e-01 -1.83451383e-02 2.99258033e+02] [ 3.60204723e-01 9.32841484e-01 -7.70212591e-03 1.77918476e+01] [ 1.98880788e-02 5.75468982e-04 9.99802047e-01 2.48827333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:299.31, Y:17.81, Z:2.49 [[ 9.32440762e-01 -3.60857035e-01 -1.83419221e-02 2.99311348e+02] [ 3.60775118e-01 9.32620970e-01 -7.70977740e-03 1.78147739e+01] [ 1.98881886e-02 5.71601624e-04 9.99802047e-01 2.48954939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28232058799995 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:299.37, Y:17.84, Z:2.51 [[ 9.36149552e-01 -3.51123495e-01 -1.83387027e-02 2.99365048e+02] [ 3.51039556e-01 9.36328827e-01 -7.71742755e-03 1.78383709e+01] [ 1.98808261e-02 7.87056305e-04 9.99802047e-01 2.50674777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.42, Y:17.86, Z:2.50 [[ 9.32015321e-01 -3.61954639e-01 -1.83379650e-02 2.99421134e+02] [ 3.61872750e-01 9.32195541e-01 -7.71918002e-03 1.78600503e+01] [ 1.98885622e-02 5.58384225e-04 9.99802047e-01 2.49589795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:299.48, Y:17.88, Z:2.50 [[ 9.31322778e-01 -3.63732928e-01 -1.83368323e-02 2.99475693e+02] [ 3.63651330e-01 9.31503131e-01 -7.72186968e-03 1.78806925e+01] [ 1.98895150e-02 5.23339653e-04 9.99802047e-01 2.49694542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46232058799995 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:299.53, Y:17.90, Z:2.51 [[ 9.32217758e-01 -3.61433162e-01 -1.83336038e-02 2.99531939e+02] [ 3.61350969e-01 9.32397840e-01 -7.72952737e-03 1.78999834e+01] [ 1.98879201e-02 5.80737177e-04 9.99802047e-01 2.50727937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.59, Y:17.92, Z:2.50 [[ 9.29043263e-01 -3.69516708e-01 -1.83307739e-02 2.99588145e+02] [ 3.69435949e-01 9.29223993e-01 -7.73623290e-03 1.79182877e+01] [ 1.98920622e-02 4.15248223e-04 9.99802047e-01 2.49865491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58232058799996 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:299.64, Y:17.94, Z:2.51 [[ 9.29614323e-01 -3.68077838e-01 -1.83280104e-02 2.99644039e+02] [ 3.67996671e-01 9.29794870e-01 -7.74277418e-03 1.79380679e+01] [ 1.98912337e-02 4.53146947e-04 9.99802047e-01 2.51201307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.70, Y:17.96, Z:2.50 [[ 9.25271154e-01 -3.78863394e-01 -1.83253709e-02 2.99700946e+02] [ 3.78784208e-01 9.25452579e-01 -7.74901629e-03 1.79573128e+01] [ 1.98950804e-02 2.28580122e-04 9.99802047e-01 2.50016801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.76, Y:17.98, Z:2.50 [[ 9.23107665e-01 -3.84104756e-01 -1.83241891e-02 2.99756214e+02] [ 3.84026545e-01 9.23289512e-01 -7.75181004e-03 1.79766947e+01] [ 1.98960387e-02 1.18780249e-04 9.99802047e-01 2.50143863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.81, Y:18.00, Z:2.50 [[ 9.22856897e-01 -3.84707021e-01 -1.83209339e-02 2.99808467e+02] [ 3.84628775e-01 9.23038729e-01 -7.75949590e-03 1.80011882e+01] [ 1.98960641e-02 1.14145950e-04 9.99802047e-01 2.50148862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.86, Y:18.02, Z:2.50 [[ 9.22182581e-01 -3.86320700e-01 -1.83195169e-02 2.99864360e+02] [ 3.86242706e-01 9.22364521e-01 -7.76283989e-03 1.80211676e+01] [ 1.98962181e-02 8.29759488e-05 9.99802047e-01 2.50405501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88232058799997 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:299.92, Y:18.04, Z:2.52 [[ 9.23821085e-01 -3.82386064e-01 -1.83166794e-02 2.99919480e+02] [ 3.82307163e-01 9.24002634e-01 -7.76952912e-03 1.80427257e+01] [ 1.98956197e-02 1.75057076e-04 9.99802047e-01 2.52463161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:299.98, Y:18.07, Z:2.51 [[ 9.20529122e-01 -3.90244449e-01 -1.83141117e-02 2.99975056e+02] [ 3.90166977e-01 9.20711285e-01 -7.77557707e-03 1.80665228e+01] [ 1.98963851e-02 1.20835361e-05 9.99802047e-01 2.50593545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.03, Y:18.09, Z:2.51 [[ 9.19712821e-01 -3.92164503e-01 -1.83119931e-02 3.00029119e+02] [ 3.92087313e-01 9.19895104e-01 -7.78056329e-03 1.80904604e+01] [ 1.98963735e-02 -2.40163478e-05 9.99802047e-01 2.50511444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:300.08, Y:18.11, Z:2.51 [[ 9.18806180e-01 -3.94284134e-01 -1.83091473e-02 3.00082824e+02] [ 3.94207231e-01 9.18988584e-01 -7.78725419e-03 1.81120765e+01] [ 1.98962881e-02 -6.26209866e-05 9.99802047e-01 2.50879738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.14, Y:18.13, Z:2.51 [[ 9.17872507e-01 -3.96452967e-01 -1.83058968e-02 3.00136087e+02] [ 3.96376343e-01 9.18055028e-01 -7.79488788e-03 1.81346937e+01] [ 1.98961270e-02 -1.01311147e-04 9.99802047e-01 2.50963008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.19, Y:18.16, Z:2.51 [[ 9.17456667e-01 -3.97414492e-01 -1.83026199e-02 3.00188985e+02] [ 3.97337905e-01 9.17639204e-01 -7.80257450e-03 1.81583723e+01] [ 1.98960577e-02 -1.13800660e-04 9.99802047e-01 2.50955271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.242320588 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:300.24, Y:18.18, Z:2.53 [[ 9.21061776e-01 -3.88986296e-01 -1.82993642e-02 3.00242453e+02] [ 3.88907888e-01 9.21243538e-01 -7.81020268e-03 1.81828849e+01] [ 1.98962328e-02 7.69120849e-05 9.99802047e-01 2.53340257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:18.21, Z:2.51 [[ 9.15324846e-01 -4.02300452e-01 -1.82967817e-02 3.00298691e+02] [ 4.02224567e-01 9.15507676e-01 -7.81624788e-03 1.82055045e+01] [ 1.98953242e-02 -2.05009215e-04 9.99802047e-01 2.51124310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.35, Y:18.23, Z:2.51 [[ 9.14779146e-01 -4.03539880e-01 -1.82942580e-02 3.00351954e+02] [ 4.03464125e-01 9.14962029e-01 -7.82215040e-03 1.82292968e+01] [ 1.98951010e-02 -2.25536717e-04 9.99802047e-01 2.51120590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.41, Y:18.25, Z:2.51 [[ 9.14454154e-01 -4.04275943e-01 -1.82910441e-02 3.00405967e+02] [ 4.04200184e-01 9.14637036e-01 -7.82965832e-03 1.82539736e+01] [ 1.98950089e-02 -2.33379836e-04 9.99802047e-01 2.51199215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:300.46, Y:18.28, Z:2.51 [[ 9.14694564e-01 -4.03731836e-01 -1.82882199e-02 3.00459588e+02] [ 4.03655837e-01 9.14877346e-01 -7.83624957e-03 1.82771115e+01] [ 1.98952215e-02 -2.14371810e-04 9.99802048e-01 2.51427771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.51, Y:18.30, Z:2.51 [[ 9.15335889e-01 -4.02275762e-01 -1.82872006e-02 3.00513494e+02] [ 4.02199425e-01 9.15518530e-01 -7.83862758e-03 1.83008612e+01] [ 1.98955609e-02 -1.80124398e-04 9.99802048e-01 2.51453018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.57, Y:18.33, Z:2.51 [[ 9.17090270e-01 -3.98260113e-01 -1.82843804e-02 3.00566127e+02] [ 3.98182845e-01 9.17272519e-01 -7.84520025e-03 1.83250753e+01] [ 1.98961901e-02 -8.57698034e-05 9.99802048e-01 2.51376795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.62, Y:18.35, Z:2.52 [[ 9.18241033e-01 -3.95599807e-01 -1.82811087e-02 3.00620463e+02] [ 3.95521859e-01 9.18422992e-01 -7.85281676e-03 1.83484036e+01] [ 1.98963634e-02 -1.97995222e-05 9.99802048e-01 2.51648076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.67, Y:18.37, Z:2.52 [[ 9.18195043e-01 -3.95706670e-01 -1.82782498e-02 3.00673504e+02] [ 3.95628611e-01 9.18376955e-01 -7.85946547e-03 1.83720038e+01] [ 1.98963663e-02 -1.48763670e-05 9.99802048e-01 2.51748353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.73, Y:18.39, Z:2.52 [[ 9.18837694e-01 -3.94212277e-01 -1.82749549e-02 3.00728535e+02] [ 3.94133769e-01 9.19019412e-01 -7.86711951e-03 1.83946603e+01] [ 1.98963534e-02 2.58291026e-05 9.99802048e-01 2.51654890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.78, Y:18.42, Z:2.52 [[ 9.19855714e-01 -3.91831081e-01 -1.82720784e-02 3.00781909e+02] [ 3.91751971e-01 9.20037171e-01 -7.87379466e-03 1.84178006e+01] [ 1.98961888e-02 8.46322791e-05 9.99802048e-01 2.51826124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90232058799995 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:300.83, Y:18.45, Z:2.54 [[ 9.27674921e-01 -3.72941673e-01 -1.82687906e-02 3.00834248e+02] [ 3.72858719e-01 9.27854654e-01 -7.88141565e-03 1.84454229e+01] [ 1.98900907e-02 4.99713769e-04 9.99802048e-01 2.54008188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96232058799995 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:300.89, Y:18.47, Z:2.54 [[ 9.28220831e-01 -3.71580996e-01 -1.82661627e-02 3.00889908e+02] [ 3.71497659e-01 9.28400386e-01 -7.88750149e-03 1.84665763e+01] [ 1.98891582e-02 5.35506512e-04 9.99802048e-01 2.54390963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:300.95, Y:18.49, Z:2.52 [[ 9.20491001e-01 -3.90336741e-01 -1.82632546e-02 3.00947496e+02] [ 3.90256930e-01 9.20672151e-01 -7.89422927e-03 1.84858244e+01] [ 1.98958777e-02 1.39205316e-04 9.99802048e-01 2.52066160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08232058799996 meters Centerline goodness : 0.998302 with order 1 Centerline is valid? [True, True] Translation: X:301.00, Y:18.51, Z:2.55 [[ 9.29354321e-01 -3.68737156e-01 -1.82607564e-02 3.01000134e+02] [ 3.68653024e-01 9.29533505e-01 -7.90000394e-03 1.85121625e+01] [ 1.98870099e-02 6.10019725e-04 9.99802048e-01 2.54720797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.06, Y:18.53, Z:2.52 [[ 9.19514787e-01 -3.92631032e-01 -1.82600609e-02 3.01057176e+02] [ 3.92551527e-01 9.19696071e-01 -7.90161113e-03 1.85309945e+01] [ 1.98961240e-02 9.76334807e-05 9.99802048e-01 2.52091193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20232058799996 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:301.11, Y:18.55, Z:2.55 [[ 9.27058550e-01 -3.74471677e-01 -1.82594602e-02 3.01112470e+02] [ 3.74388595e-01 9.27238223e-01 -7.90299905e-03 1.85519524e+01] [ 1.98903187e-02 4.90409184e-04 9.99802048e-01 2.54970694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26232058799997 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:301.17, Y:18.58, Z:2.52 [[ 9.20269040e-01 -3.90860056e-01 -1.82568012e-02 3.01167888e+02] [ 3.90780053e-01 9.20450105e-01 -7.90913684e-03 1.85765948e+01] [ 1.98958403e-02 1.44140017e-04 9.99802048e-01 2.52211025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32232058799997 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:301.22, Y:18.60, Z:2.55 [[ 9.30125909e-01 -3.66786810e-01 -1.82545923e-02 3.01221171e+02] [ 3.66702024e-01 9.30304784e-01 -7.91423180e-03 1.86013331e+01] [ 1.98851704e-02 6.67236106e-04 9.99802048e-01 2.54844546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:301.28, Y:18.62, Z:2.53 [[ 9.22897743e-01 -3.84612209e-01 -1.82539106e-02 3.01276589e+02] [ 3.84530848e-01 9.23078202e-01 -7.91580389e-03 1.86243302e+01] [ 1.98943018e-02 2.86285828e-04 9.99802048e-01 2.52511458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442320588 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:301.33, Y:18.65, Z:2.53 [[ 9.23311465e-01 -3.83617983e-01 -1.82532936e-02 3.01330349e+02] [ 3.83536399e-01 9.23491823e-01 -7.91722624e-03 1.86470374e+01] [ 1.98939578e-02 3.09263235e-04 9.99802048e-01 2.52692534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.38, Y:18.67, Z:2.53 [[ 9.22072679e-01 -3.86586228e-01 -1.82499889e-02 3.01384666e+02] [ 3.86505075e-01 9.22253232e-01 -7.92483661e-03 1.86699598e+01] [ 1.98947440e-02 2.53561983e-04 9.99802048e-01 2.52664859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.44, Y:18.69, Z:2.53 [[ 9.20697793e-01 -3.89849482e-01 -1.82470875e-02 3.01439492e+02] [ 3.89768837e-01 9.20878572e-01 -7.93151153e-03 1.86914154e+01] [ 1.98954476e-02 1.90379083e-04 9.99802048e-01 2.52681762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622320588 meters Centerline goodness : 0.998386 with order 1 Centerline is valid? [True, True] Translation: X:301.49, Y:18.72, Z:2.56 [[ 9.29002599e-01 -3.69623216e-01 -1.82441818e-02 3.01492649e+02] [ 3.69538506e-01 9.29181510e-01 -7.93818979e-03 1.87160695e+01] [ 1.98862956e-02 6.32671284e-04 9.99802048e-01 2.55820900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.682320588 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:301.55, Y:18.74, Z:2.55 [[ 9.25692655e-01 -3.77836404e-01 -1.82417031e-02 3.01548836e+02] [ 3.77753170e-01 9.25872258e-01 -7.94388151e-03 1.87378673e+01] [ 1.98909745e-02 4.62731590e-04 9.99802048e-01 2.54783891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.742320588 meters Centerline goodness : 0.998733 with order 1 Centerline is valid? [True, True] Translation: X:301.60, Y:18.76, Z:2.55 [[ 9.28399018e-01 -3.71136896e-01 -1.82391551e-02 3.01602105e+02] [ 3.71052251e-01 9.28577961e-01 -7.94972745e-03 1.87647045e+01] [ 1.98869146e-02 6.12839595e-04 9.99802048e-01 2.55409160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.802320588 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:301.66, Y:18.79, Z:2.55 [[ 9.26746185e-01 -3.75245132e-01 -1.82372776e-02 3.01657359e+02] [ 3.75161196e-01 9.26925461e-01 -7.95403224e-03 1.87869860e+01] [ 1.98893088e-02 5.29450147e-04 9.99802048e-01 2.55099384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.862320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:301.71, Y:18.81, Z:2.54 [[ 9.21241225e-01 -3.88564060e-01 -1.82366978e-02 3.01712605e+02] [ 3.88482690e-01 9.21421680e-01 -7.95536138e-03 1.88102437e+01] [ 1.98948562e-02 2.44165442e-04 9.99802048e-01 2.53527805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.922320588 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:301.76, Y:18.84, Z:2.55 [[ 9.29069670e-01 -3.69455096e-01 -1.82340311e-02 3.01764955e+02] [ 3.69369897e-01 9.29248349e-01 -7.96146892e-03 1.88379228e+01] [ 1.98853486e-02 6.61657116e-04 9.99802048e-01 2.55471243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98232058799994 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:301.82, Y:18.86, Z:2.55 [[ 9.28131425e-01 -3.71805980e-01 -1.82310488e-02 3.01819932e+02] [ 3.71721100e-01 9.28310255e-01 -7.96829228e-03 1.88608632e+01] [ 1.98867283e-02 6.18756955e-04 9.99802048e-01 2.55372000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04232058799994 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:301.87, Y:18.88, Z:2.55 [[ 9.26644100e-01 -3.75497598e-01 -1.82281431e-02 3.01874362e+02] [ 3.75413300e-01 9.26823206e-01 -7.97493376e-03 1.88844522e+01] [ 1.98888345e-02 5.46837960e-04 9.99802048e-01 2.55297782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10232058799994 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:301.93, Y:18.91, Z:2.56 [[ 9.27516176e-01 -3.73338430e-01 -1.82252427e-02 3.01927361e+02] [ 3.73253585e-01 9.27695023e-01 -7.98155656e-03 1.89077506e+01] [ 1.98872888e-02 6.00385648e-04 9.99802048e-01 2.55577607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16232058799994 meters Centerline goodness : 0.998393 with order 1 Centerline is valid? [True, True] Translation: X:301.98, Y:18.93, Z:2.56 [[ 9.28152355e-01 -3.71754173e-01 -1.82219867e-02 3.01981232e+02] [ 3.71668877e-01 9.28330987e-01 -7.98898325e-03 1.89311602e+01] [ 1.98859727e-02 6.42448290e-04 9.99802048e-01 2.56080524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:302.04, Y:18.95, Z:2.54 [[ 9.22395202e-01 -3.85817516e-01 -1.82191050e-02 3.02035213e+02] [ 3.85734815e-01 9.22575050e-01 -7.99554959e-03 1.89537127e+01] [ 1.98933148e-02 3.47313478e-04 9.99802048e-01 2.54222559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.09, Y:18.98, Z:2.54 [[ 9.23324152e-01 -3.83589216e-01 -1.82160236e-02 3.02087687e+02] [ 3.83505943e-01 9.23503736e-01 -8.00256364e-03 1.89796345e+01] [ 1.98922630e-02 4.03006983e-04 9.99802048e-01 2.54179864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34232058799995 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:302.14, Y:19.00, Z:2.54 [[ 9.23401882e-01 -3.83402110e-01 -1.82149750e-02 3.02141030e+02] [ 3.83318754e-01 9.23581428e-01 -8.00494977e-03 1.90033175e+01] [ 1.98921272e-02 4.09644174e-04 9.99802048e-01 2.54357377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40232058799995 meters Centerline goodness : 0.997881 with order 1 Centerline is valid? [True, True] Translation: X:302.19, Y:19.03, Z:2.57 [[ 9.29394941e-01 -3.68637193e-01 -1.82116313e-02 3.02193817e+02] [ 3.68550837e-01 9.29573063e-01 -8.01254968e-03 1.90285904e+01] [ 1.98827657e-02 7.34911196e-04 9.99802048e-01 2.57008734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46232058799995 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:302.25, Y:19.05, Z:2.58 [[ 9.30493311e-01 -3.65855932e-01 -1.82108468e-02 3.02248292e+02] [ 3.65769009e-01 9.30671157e-01 -8.01433219e-03 1.90534716e+01] [ 1.98804008e-02 7.96319116e-04 9.99802048e-01 2.57632377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:302.30, Y:19.07, Z:2.55 [[ 9.21311494e-01 -3.88398682e-01 -1.82097513e-02 3.02304439e+02] [ 3.88316065e-01 9.21491381e-01 -8.01682060e-03 1.90733600e+01] [ 1.98938514e-02 3.14850005e-04 9.99802048e-01 2.54579165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.36, Y:19.09, Z:2.55 [[ 9.20533110e-01 -3.90239970e-01 -1.82087604e-02 3.02359547e+02] [ 3.90157668e-01 9.20713141e-01 -8.01907068e-03 1.90939837e+01] [ 1.98944069e-02 2.77532590e-04 9.99802048e-01 2.54916918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64232058799996 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:302.41, Y:19.11, Z:2.55 [[ 9.19381288e-01 -3.92946065e-01 -1.82053931e-02 3.02414987e+02] [ 3.92864142e-01 9.19561492e-01 -8.02670807e-03 1.91145172e+01] [ 1.98950418e-02 2.27359091e-04 9.99802048e-01 2.55220006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:302.47, Y:19.14, Z:2.55 [[ 9.17541829e-01 -3.97222435e-01 -1.82024515e-02 3.02470157e+02] [ 3.97141219e-01 9.17722353e-01 -8.03337326e-03 1.91366564e+01] [ 1.98958327e-02 1.42012226e-04 9.99802048e-01 2.55273895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.52, Y:19.16, Z:2.55 [[ 9.15834599e-01 -4.01143074e-01 -1.81995094e-02 3.02524684e+02] [ 4.01062499e-01 9.16015409e-01 -8.04003298e-03 1.91578964e+01] [ 1.98962346e-02 6.41996571e-05 9.99802048e-01 2.55230271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82232058799997 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:302.58, Y:19.18, Z:2.59 [[ 9.22618020e-01 -3.85285466e-01 -1.81961265e-02 3.02579023e+02] [ 3.85201633e-01 9.22797343e-01 -8.04768179e-03 1.91810153e+01] [ 1.98919920e-02 4.15758597e-04 9.99802048e-01 2.58611563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88232058799997 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:302.63, Y:19.20, Z:2.56 [[ 9.16571831e-01 -3.99455898e-01 -1.81951741e-02 3.02634964e+02] [ 3.99374795e-01 9.16752406e-01 -8.04983453e-03 1.92028084e+01] [ 1.98960235e-02 1.11557634e-04 9.99802048e-01 2.55928735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942320588 meters Centerline goodness : 0.995349 with order 1 Centerline is valid? [True, True] Translation: X:302.69, Y:19.23, Z:2.59 [[ 9.23174307e-01 -3.83950789e-01 -1.81931257e-02 3.02686766e+02] [ 3.83866563e-01 9.23353447e-01 -8.05446149e-03 1.92313849e+01] [ 1.98912021e-02 4.51939281e-04 9.99802048e-01 2.58928785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:302.74, Y:19.25, Z:2.56 [[ 9.17227645e-01 -3.97947849e-01 -1.81922046e-02 3.02743256e+02] [ 3.97866316e-01 9.17408026e-01 -8.05654133e-03 1.92526725e+01] [ 1.98957578e-02 1.51617007e-04 9.99802048e-01 2.56233297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062320588 meters Centerline goodness : 0.995326 with order 1 Centerline is valid? [True, True] Translation: X:302.80, Y:19.28, Z:2.59 [[ 9.22484287e-01 -3.85605778e-01 -1.81913446e-02 3.02797552e+02] [ 3.85521794e-01 9.22663539e-01 -8.05848273e-03 1.92768081e+01] [ 1.98918879e-02 4.20663887e-04 9.99802048e-01 2.59143585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122320588 meters Centerline goodness : 0.995673 with order 1 Centerline is valid? [True, True] Translation: X:302.85, Y:19.30, Z:2.59 [[ 9.21607997e-01 -3.87695589e-01 -1.81887293e-02 3.02851061e+02] [ 3.87611895e-01 9.21787386e-01 -8.06438125e-03 1.93013464e+01] [ 1.98926663e-02 3.82030405e-04 9.99802048e-01 2.59074637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.182320588 meters Centerline goodness : 0.996791 with order 1 Centerline is valid? [True, True] Translation: X:302.91, Y:19.32, Z:2.59 [[ 9.20251657e-01 -3.90904292e-01 -1.81857887e-02 3.02906606e+02] [ 3.90821093e-01 9.20431275e-01 -8.07100730e-03 1.93238686e+01] [ 1.98937600e-02 3.19968036e-04 9.99802048e-01 2.59046068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.242320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:302.96, Y:19.35, Z:2.56 [[ 9.13249352e-01 -4.06995059e-01 -1.81835848e-02 3.02961661e+02] [ 4.06914926e-01 9.13430359e-01 -8.07596952e-03 1.93479849e+01] [ 1.98963181e-02 -2.37981211e-05 9.99802048e-01 2.56426633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.302320588 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:303.02, Y:19.37, Z:2.57 [[ 9.12251281e-01 -4.09227385e-01 -1.81809528e-02 3.03015182e+02] [ 4.09147577e-01 9.12432432e-01 -8.08189037e-03 1.93702772e+01] [ 1.98962218e-02 -6.59779481e-05 9.99802048e-01 2.56770349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.362320588 meters Centerline goodness : 0.996345 with order 1 Centerline is valid? [True, True] Translation: X:303.07, Y:19.40, Z:2.60 [[ 9.19271732e-01 -3.93203583e-01 -1.81775837e-02 3.03068152e+02] [ 3.93120469e-01 9.19451390e-01 -8.08946099e-03 1.93974963e+01] [ 1.98942096e-02 2.90432599e-04 9.99802048e-01 2.60173490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.422320588 meters Centerline goodness : 0.996713 with order 1 Centerline is valid? [True, True] Translation: X:303.12, Y:19.42, Z:2.60 [[ 9.19264920e-01 -3.93219622e-01 -1.81751487e-02 3.03122517e+02] [ 3.93136403e-01 9.19444528e-01 -8.09492822e-03 1.94218833e+01] [ 1.98941256e-02 2.96070967e-04 9.99802048e-01 2.60158659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48232058799994 meters Centerline goodness : 0.997561 with order 1 Centerline is valid? [True, True] Translation: X:303.18, Y:19.44, Z:2.60 [[ 9.17561809e-01 -3.97177667e-01 -1.81721451e-02 3.03178083e+02] [ 3.97095089e-01 9.17741714e-01 -8.10166530e-03 1.94440576e+01] [ 1.98951361e-02 2.17709101e-04 9.99802048e-01 2.59824900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54232058799994 meters Centerline goodness : 0.996145 with order 1 Centerline is valid? [True, True] Translation: X:303.23, Y:19.47, Z:2.61 [[ 9.18747486e-01 -3.94427339e-01 -1.81695248e-02 3.03230970e+02] [ 3.94344106e-01 9.18927088e-01 -8.10753744e-03 1.94707234e+01] [ 1.98943030e-02 2.83734606e-04 9.99802049e-01 2.60533926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60232058799994 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:303.29, Y:19.49, Z:2.57 [[ 9.09618852e-01 -4.15046378e-01 -1.81672294e-02 3.03287787e+02] [ 4.14967114e-01 9.09800241e-01 -8.11267767e-03 1.94918074e+01] [ 1.98956872e-02 -1.59358223e-04 9.99802049e-01 2.57225872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66232058799994 meters Centerline goodness : 0.997558 with order 1 Centerline is valid? [True, True] Translation: X:303.34, Y:19.52, Z:2.60 [[ 9.17947527e-01 -3.96285657e-01 -1.81663156e-02 3.03341401e+02] [ 3.96202646e-01 9.18127232e-01 -8.11472341e-03 1.95176619e+01] [ 1.98947376e-02 2.51347967e-04 9.99802049e-01 2.60029727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72232058799995 meters Centerline goodness : 0.997920 with order 1 Centerline is valid? [True, True] Translation: X:303.40, Y:19.54, Z:2.60 [[ 9.17768195e-01 -3.96700923e-01 -1.81636529e-02 3.03395185e+02] [ 3.96617875e-01 9.17947883e-01 -8.12067915e-03 1.95428230e+01] [ 1.98947677e-02 2.48871626e-04 9.99802049e-01 2.59937644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78232058799995 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:303.45, Y:19.56, Z:2.58 [[ 9.10190955e-01 -4.13790543e-01 -1.81606996e-02 3.03451576e+02] [ 4.13710738e-01 9.10372107e-01 -8.12727850e-03 1.95640256e+01] [ 1.98959853e-02 -1.15901037e-04 9.99802049e-01 2.57648833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84232058799995 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:303.50, Y:19.59, Z:2.58 [[ 9.09869478e-01 -4.14496976e-01 -1.81600982e-02 3.03504226e+02] [ 4.14417284e-01 9.10050680e-01 -8.12862195e-03 1.95884406e+01] [ 1.98958990e-02 -1.29873578e-04 9.99802049e-01 2.57654763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90232058799995 meters Centerline goodness : 0.997211 with order 1 Centerline is valid? [True, True] Translation: X:303.56, Y:19.62, Z:2.61 [[ 9.21181197e-01 -3.88710092e-01 -1.81567097e-02 3.03557383e+02] [ 3.88625180e-01 9.21360012e-01 -8.13618388e-03 1.96151425e+01] [ 1.98914830e-02 4.38745050e-04 9.99802049e-01 2.60771632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96232058799995 meters Centerline goodness : 0.997546 with order 1 Centerline is valid? [True, True] Translation: X:303.61, Y:19.64, Z:2.60 [[ 9.19481549e-01 -3.92713768e-01 -1.81542517e-02 3.03613170e+02] [ 3.92629527e-01 9.19660681e-01 -8.14166474e-03 1.96369984e+01] [ 1.98930953e-02 3.58215266e-04 9.99802049e-01 2.60276428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02232058799996 meters Centerline goodness : 0.998166 with order 1 Centerline is valid? [True, True] Translation: X:303.67, Y:19.66, Z:2.60 [[ 9.21088414e-01 -3.88930120e-01 -1.81519775e-02 3.03665667e+02] [ 3.88845043e-01 9.21267151e-01 -8.14673195e-03 1.96633197e+01] [ 1.98913300e-02 4.45553958e-04 9.99802049e-01 2.60304681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08232058799996 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:303.72, Y:19.69, Z:2.60 [[ 9.21673187e-01 -3.87542469e-01 -1.81485869e-02 3.03719716e+02] [ 3.87456974e-01 9.21851724e-01 -8.15427824e-03 1.96872868e+01] [ 1.98904352e-02 4.83783058e-04 9.99802049e-01 2.60233909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:303.78, Y:19.71, Z:2.58 [[ 9.13298195e-01 -4.06887135e-01 -1.81456790e-02 3.03775166e+02] [ 4.06805295e-01 9.13478437e-01 -8.16074394e-03 1.97089823e+01] [ 1.98961882e-02 7.14344087e-05 9.99802049e-01 2.57968075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:303.83, Y:19.73, Z:2.58 [[ 9.13327302e-01 -4.06821927e-01 -1.81427489e-02 3.03829270e+02] [ 4.06739945e-01 9.13507479e-01 -8.16725293e-03 1.97325017e+01] [ 1.98961544e-02 7.99944116e-05 9.99802049e-01 2.58337849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.88, Y:19.76, Z:2.58 [[ 9.13768599e-01 -4.05829885e-01 -1.81397638e-02 3.03882141e+02] [ 4.05747576e-01 9.13948627e-01 -8.17387756e-03 1.97582684e+01] [ 1.98960160e-02 1.08867460e-04 9.99802049e-01 2.58249096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:303.94, Y:19.78, Z:2.58 [[ 9.13893505e-01 -4.05548683e-01 -1.81363483e-02 3.03937182e+02] [ 4.05466168e-01 9.14073438e-01 -8.18144881e-03 1.97809121e+01] [ 1.98959301e-02 1.23297275e-04 9.99802049e-01 2.58483762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:303.99, Y:19.81, Z:2.58 [[ 9.14005348e-01 -4.05296688e-01 -1.81333611e-02 3.03990647e+02] [ 4.05213992e-01 9.14185198e-01 -8.18806446e-03 1.98071206e+01] [ 1.98958457e-02 1.36043090e-04 9.99802049e-01 2.58447197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442320588 meters Centerline goodness : 0.996994 with order 1 Centerline is valid? [True, True] Translation: X:304.04, Y:19.83, Z:2.62 [[ 9.25070527e-01 -3.79362371e-01 -1.81303733e-02 3.04043484e+02] [ 3.79274508e-01 9.25247910e-01 -8.19467466e-03 1.98339841e+01] [ 1.98838413e-02 7.04263591e-04 9.99802049e-01 2.61666025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.10, Y:19.86, Z:2.59 [[ 9.14190489e-01 -4.04879167e-01 -1.81276243e-02 3.04100136e+02] [ 4.04796137e-01 9.14370185e-01 -8.20075145e-03 1.98551567e+01] [ 1.98956726e-02 1.59056705e-04 9.99802049e-01 2.58916449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562320588 meters Centerline goodness : 0.997456 with order 1 Centerline is valid? [True, True] Translation: X:304.15, Y:19.88, Z:2.62 [[ 9.24572854e-01 -3.80573941e-01 -1.81249301e-02 3.04152571e+02] [ 3.80486075e-01 9.24750235e-01 -8.20670160e-03 1.98819784e+01] [ 1.98842902e-02 6.91410004e-04 9.99802049e-01 2.61903969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:304.21, Y:19.90, Z:2.59 [[ 9.14153998e-01 -4.04961796e-01 -1.81221517e-02 3.04208902e+02] [ 4.04878543e-01 9.14333591e-01 -8.21283230e-03 1.99042140e+01] [ 1.98955754e-02 1.70523085e-04 9.99802049e-01 2.59045265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.682320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:304.26, Y:19.93, Z:2.59 [[ 9.14454813e-01 -4.04282175e-01 -1.81195649e-02 3.04263437e+02] [ 4.04198676e-01 9.14634291e-01 -8.21853560e-03 1.99278859e+01] [ 1.98953828e-02 1.91575300e-04 9.99802049e-01 2.59110923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.742320588 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:304.32, Y:19.95, Z:2.62 [[ 9.23464948e-01 -3.83254851e-01 -1.81165581e-02 3.04316482e+02] [ 3.83167138e-01 9.23642405e-01 -8.22515830e-03 1.99536893e+01] [ 1.98855531e-02 6.53975673e-04 9.99802049e-01 2.61946957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.37, Y:19.98, Z:2.59 [[ 9.13526385e-01 -4.06375905e-01 -1.81153866e-02 3.04372263e+02] [ 4.06292635e-01 9.13705970e-01 -8.22773752e-03 1.99753106e+01] [ 1.98956912e-02 1.56107152e-04 9.99802049e-01 2.59445495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.43, Y:20.00, Z:2.59 [[ 9.12074525e-01 -4.09624115e-01 -1.81147505e-02 3.04425358e+02] [ 4.09541457e-01 9.12254393e-01 -8.22913796e-03 2.00004870e+01] [ 1.98961140e-02 8.68458154e-05 9.99802049e-01 2.59497307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.922320588 meters Centerline goodness : 0.997034 with order 1 Centerline is valid? [True, True] Translation: X:304.48, Y:20.02, Z:2.63 [[ 9.21109830e-01 -3.88881276e-01 -1.81117227e-02 3.04478792e+02] [ 3.88794438e-01 9.21287717e-01 -8.23579654e-03 2.00240160e+01] [ 1.98888547e-02 5.44336120e-04 9.99802049e-01 2.62911930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.53, Y:20.05, Z:2.60 [[ 9.09029787e-01 -4.16337420e-01 -1.81107555e-02 3.04534242e+02] [ 4.16255915e-01 9.09210179e-01 -8.23792279e-03 2.00471081e+01] [ 1.98962388e-02 -5.01918992e-05 9.99802049e-01 2.59935129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04232058799994 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:304.59, Y:20.07, Z:2.60 [[ 9.07363245e-01 -4.19957188e-01 -1.81080622e-02 3.04588088e+02] [ 4.19876285e-01 9.07543908e-01 -8.24383886e-03 2.00704852e+01] [ 1.98959209e-02 -1.22989479e-04 9.99802049e-01 2.60196323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10232058799994 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:304.64, Y:20.09, Z:2.60 [[ 9.04843915e-01 -4.25358315e-01 -1.81050601e-02 3.04641125e+02] [ 4.25278357e-01 9.05024999e-01 -8.25042673e-03 2.00936635e+01] [ 1.98949196e-02 -2.34341787e-04 9.99802049e-01 2.60215302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16232058799994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:304.69, Y:20.12, Z:2.60 [[ 9.03126105e-01 -4.28993669e-01 -1.81016480e-02 3.04694678e+02] [ 4.28914291e-01 9.03307444e-01 -8.25790625e-03 2.01158708e+01] [ 1.98939428e-02 -3.06124797e-04 9.99802049e-01 2.60414522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22232058799995 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:304.75, Y:20.14, Z:2.60 [[ 9.01890121e-01 -4.31586218e-01 -1.80982432e-02 3.04749388e+02] [ 4.31507212e-01 9.02071621e-01 -8.26536157e-03 2.01394289e+01] [ 1.98931277e-02 -3.55074499e-04 9.99802049e-01 2.60356251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28232058799995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:304.80, Y:20.16, Z:2.61 [[ 9.02235126e-01 -4.30864631e-01 -1.80954872e-02 3.04803043e+02] [ 4.30785358e-01 9.02416511e-01 -8.27139077e-03 2.01649549e+01] [ 1.98935162e-02 -3.32531656e-04 9.99802049e-01 2.60543738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:304.86, Y:20.19, Z:2.61 [[ 9.02013005e-01 -4.31329572e-01 -1.80925338e-02 3.04858148e+02] [ 4.31250263e-01 9.02194374e-01 -8.27784593e-03 2.01872327e+01] [ 1.98934619e-02 -3.35685286e-04 9.99802049e-01 2.61007325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40232058799995 meters Centerline goodness : 0.998493 with order 1 Centerline is valid? [True, True] Translation: X:304.91, Y:20.21, Z:2.63 [[ 9.09488503e-01 -4.15335323e-01 -1.80895857e-02 3.04911516e+02] [ 4.15252696e-01 9.09668384e-01 -8.28428336e-03 2.02125244e+01] [ 1.98962797e-02 2.27112244e-05 9.99802049e-01 2.63225240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46232058799995 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:304.97, Y:20.24, Z:2.63 [[ 9.10840574e-01 -4.12361885e-01 -1.80866035e-02 3.04965901e+02] [ 4.12278542e-01 9.11020124e-01 -8.29078915e-03 2.02369317e+01] [ 1.98960652e-02 9.48686174e-05 9.99802049e-01 2.63368180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52232058799996 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:305.02, Y:20.26, Z:2.61 [[ 9.03585169e-01 -4.28026654e-01 -1.80838491e-02 3.05021323e+02] [ 4.27946303e-01 9.03766078e-01 -8.29679278e-03 2.02588604e+01] [ 1.98948178e-02 -2.42057460e-04 9.99802049e-01 2.61435227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:305.08, Y:20.28, Z:2.61 [[ 9.05004064e-01 -4.25018501e-01 -1.80808799e-02 3.05075318e+02] [ 4.24937420e-01 9.05184647e-01 -8.30325845e-03 2.02835806e+01] [ 1.98955733e-02 -1.68759789e-04 9.99802049e-01 2.61424747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64232058799996 meters Centerline goodness : 0.998238 with order 1 Centerline is valid? [True, True] Translation: X:305.13, Y:20.31, Z:2.65 [[ 9.16659830e-01 -3.99259246e-01 -1.80778918e-02 3.05128354e+02] [ 3.99172962e-01 9.16837987e-01 -8.30975900e-03 2.03100550e+01] [ 1.98922460e-02 4.01016659e-04 9.99802049e-01 2.64513018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70232058799996 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:305.18, Y:20.33, Z:2.62 [[ 9.07572794e-01 -4.19505521e-01 -1.80759783e-02 3.05183663e+02] [ 4.19423130e-01 9.07752784e-01 -8.31391931e-03 2.03328189e+01] [ 1.98962547e-02 -3.59964045e-05 9.99802049e-01 2.61630738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:305.24, Y:20.36, Z:2.62 [[ 9.07816422e-01 -4.18978076e-01 -1.80752819e-02 3.05237714e+02] [ 4.18895551e-01 9.07996350e-01 -8.31543315e-03 2.03553499e+01] [ 1.98962741e-02 -2.27683793e-05 9.99802049e-01 2.61805882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82232058799997 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:305.29, Y:20.38, Z:2.62 [[ 9.08321042e-01 -4.17883116e-01 -1.80716928e-02 3.05290681e+02] [ 4.17800219e-01 9.08500799e-01 -8.32322591e-03 2.03795749e+01] [ 1.98962829e-02 9.80403553e-06 9.99802049e-01 2.61774118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88232058799997 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:305.34, Y:20.41, Z:2.64 [[ 9.15510049e-01 -4.01889150e-01 -1.80682162e-02 3.05343305e+02] [ 4.01802964e-01 9.15688253e-01 -8.33076597e-03 2.04062053e+01] [ 1.98928978e-02 3.67037116e-04 9.99802049e-01 2.63684815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.40, Y:20.43, Z:2.62 [[ 9.08954992e-01 -4.16502668e-01 -1.80651439e-02 3.05398604e+02] [ 4.16419216e-01 9.09134492e-01 -8.33742299e-03 2.04287910e+01] [ 1.98962043e-02 5.56691886e-05 9.99802049e-01 2.61972017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.45, Y:20.46, Z:2.62 [[ 9.09315519e-01 -4.15715103e-01 -1.80621088e-02 3.05451621e+02] [ 4.15631365e-01 9.09494885e-01 -8.34399307e-03 2.04550566e+01] [ 1.98961195e-02 8.01434678e-05 9.99802049e-01 2.62057877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:305.51, Y:20.48, Z:2.62 [[ 9.09423159e-01 -4.15479708e-01 -1.80590642e-02 3.05505669e+02] [ 4.15395792e-01 9.09602443e-01 -8.35057727e-03 2.04786273e+01] [ 1.98960643e-02 9.25490741e-05 9.99802049e-01 2.62298897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:305.56, Y:20.50, Z:2.62 [[ 9.07894140e-01 -4.18810472e-01 -1.80560092e-02 3.05559931e+02] [ 4.18727083e-01 9.08073669e-01 -8.35717784e-03 2.05035521e+01] [ 1.98962601e-02 2.68927342e-05 9.99802049e-01 2.62088041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.182320588 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:305.61, Y:20.53, Z:2.62 [[ 9.06983905e-01 -4.20778183e-01 -1.80531744e-02 3.05613774e+02] [ 4.20695062e-01 9.07163558e-01 -8.36329705e-03 2.05272019e+01] [ 1.98962748e-02 -9.50549407e-06 9.99802049e-01 2.62359044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.67, Y:20.55, Z:2.62 [[ 9.08059773e-01 -4.18451501e-01 -1.80496614e-02 3.05667250e+02] [ 4.18367768e-01 9.08239142e-01 -8.37087189e-03 2.05533312e+01] [ 1.98962129e-02 4.98554634e-05 9.99802050e-01 2.62372863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.302320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:305.72, Y:20.58, Z:2.62 [[ 9.06869185e-01 -4.21025654e-01 -1.80466030e-02 3.05722016e+02] [ 4.20942300e-01 9.07048730e-01 -8.37746032e-03 2.05766464e+01] [ 1.98962740e-02 6.82048216e-07 9.99802050e-01 2.62492593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.362320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:305.78, Y:20.60, Z:2.63 [[ 9.06444469e-01 -4.21939397e-01 -1.80435442e-02 3.05775517e+02] [ 4.21856092e-01 9.06624037e-01 -8.38404320e-03 2.06022493e+01] [ 1.98962690e-02 -1.21094635e-05 9.99802050e-01 2.62690795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.422320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:305.83, Y:20.63, Z:2.63 [[ 9.06206266e-01 -4.22450878e-01 -1.80404728e-02 3.05828475e+02] [ 4.22367543e-01 9.06385821e-01 -8.39064689e-03 2.06267628e+01] [ 1.98962649e-02 -1.60533823e-05 9.99802050e-01 2.62707063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48232058799994 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:305.88, Y:20.65, Z:2.63 [[ 9.06181168e-01 -4.22504861e-01 -1.80369694e-02 3.05882352e+02] [ 4.22421387e-01 9.06360658e-01 -8.39817118e-03 2.06501271e+01] [ 1.98962676e-02 -8.93708907e-06 9.99802050e-01 2.62974900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54232058799994 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:305.94, Y:20.68, Z:2.63 [[ 9.05915824e-01 -4.23073651e-01 -1.80334515e-02 3.05935898e+02] [ 4.22990139e-01 9.06095296e-01 -8.40571855e-03 2.06754718e+01] [ 1.98962636e-02 -1.30987030e-05 9.99802050e-01 2.63140330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60232058799994 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:305.99, Y:20.70, Z:2.63 [[ 9.06585102e-01 -4.21637710e-01 -1.80303701e-02 3.05988281e+02] [ 4.21553783e-01 9.06764380e-01 -8.41232292e-03 2.07003246e+01] [ 1.98962500e-02 2.57158983e-05 9.99802050e-01 2.63393487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:306.04, Y:20.73, Z:2.64 [[ 9.07331805e-01 -4.20028604e-01 -1.80268564e-02 3.06041061e+02] [ 4.19944210e-01 9.07510863e-01 -8.41984572e-03 2.07254295e+01] [ 1.98961441e-02 6.93198357e-05 9.99802050e-01 2.63635229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72232058799995 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:306.09, Y:20.75, Z:2.64 [[ 9.07059086e-01 -4.20617373e-01 -1.80233339e-02 3.06094929e+02] [ 4.20532945e-01 9.07238128e-01 -8.42737932e-03 2.07508654e+01] [ 1.98961578e-02 6.47253154e-05 9.99802050e-01 2.63792941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78232058799995 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:306.15, Y:20.77, Z:2.64 [[ 9.06062054e-01 -4.22760955e-01 -1.80202518e-02 3.06147791e+02] [ 4.22676820e-01 9.06241234e-01 -8.43396464e-03 2.07747054e+01] [ 1.98962461e-02 2.49526147e-05 9.99802050e-01 2.63888528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84232058799995 meters Centerline goodness : 0.995197 with order 1 Centerline is valid? [True, True] Translation: X:306.20, Y:20.80, Z:2.67 [[ 9.13513895e-01 -4.06408367e-01 -1.80167246e-02 3.06201218e+02] [ 4.06320877e-01 9.13691461e-01 -8.44149273e-03 2.08001639e+01] [ 1.98924207e-02 3.90849580e-04 9.99802050e-01 2.67163064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90232058799995 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:306.26, Y:20.82, Z:2.64 [[ 9.04811464e-01 -4.25431134e-01 -1.80156850e-02 3.06255810e+02] [ 4.25347333e-01 9.04990801e-01 -8.44371069e-03 2.08245292e+01] [ 1.98962466e-02 -2.29573529e-05 9.99802050e-01 2.64071884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96232058799995 meters Centerline goodness : 0.995701 with order 1 Centerline is valid? [True, True] Translation: X:306.31, Y:20.85, Z:2.67 [[ 9.09433478e-01 -4.15459104e-01 -1.80133948e-02 3.06309611e+02] [ 4.15373240e-01 9.09611836e-01 -8.44859381e-03 2.08499096e+01] [ 1.98952423e-02 2.01151896e-04 9.99802050e-01 2.66529741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02232058799996 meters Centerline goodness : 0.995060 with order 1 Centerline is valid? [True, True] Translation: X:306.36, Y:20.88, Z:2.67 [[ 9.12632883e-01 -4.08383202e-01 -1.80106153e-02 3.06362775e+02] [ 4.08295839e-01 9.12810511e-01 -8.45451485e-03 2.08773717e+01] [ 1.98929608e-02 3.62208963e-04 9.99802050e-01 2.67043419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08232058799996 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:306.42, Y:20.90, Z:2.64 [[ 9.05986452e-01 -4.22923475e-01 -1.80078880e-02 3.06417615e+02] [ 4.22838848e-01 9.06165400e-01 -8.46031993e-03 2.09016831e+01] [ 1.98961930e-02 5.05006055e-05 9.99802050e-01 2.64128695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14232058799996 meters Centerline goodness : 0.994412 with order 1 Centerline is valid? [True, True] Translation: X:306.47, Y:20.93, Z:2.68 [[ 9.15758591e-01 -4.01325247e-01 -1.80069053e-02 3.06469006e+02] [ 4.01236360e-01 9.15935462e-01 -8.46241115e-03 2.09305332e+01] [ 1.98893423e-02 5.24500592e-04 9.99802050e-01 2.67650011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20232058799996 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:306.53, Y:20.95, Z:2.64 [[ 9.06606873e-01 -4.21591943e-01 -1.80058894e-02 3.06525339e+02] [ 4.21506969e-01 9.06785656e-01 -8.46457201e-03 2.09526041e+01] [ 1.98960776e-02 8.44312852e-05 9.99802050e-01 2.64114855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26232058799997 meters Centerline goodness : 0.994941 with order 1 Centerline is valid? [True, True] Translation: X:306.58, Y:20.98, Z:2.67 [[ 9.15148903e-01 -4.02713763e-01 -1.80030754e-02 3.06577764e+02] [ 4.02624984e-01 9.15325828e-01 -8.47055291e-03 2.09786667e+01] [ 1.98898881e-02 5.03329271e-04 9.99802050e-01 2.67380681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32232058799997 meters Centerline goodness : 0.994403 with order 1 Centerline is valid? [True, True] Translation: X:306.63, Y:21.00, Z:2.67 [[ 9.14996235e-01 -4.03060558e-01 -1.80021320e-02 3.06631515e+02] [ 4.02971807e-01 9.15173174e-01 -8.47255736e-03 2.10029335e+01] [ 1.98900220e-02 4.98006408e-04 9.99802050e-01 2.67441214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38232058799997 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:306.69, Y:21.03, Z:2.64 [[ 9.05821858e-01 -4.23276268e-01 -1.79989735e-02 3.06686348e+02] [ 4.23191334e-01 9.06000661e-01 -8.47926195e-03 2.10272022e+01] [ 1.98961522e-02 6.36912069e-05 9.99802050e-01 2.64181353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442320588 meters Centerline goodness : 0.997690 with order 1 Centerline is valid? [True, True] Translation: X:306.74, Y:21.05, Z:2.66 [[ 9.11836908e-01 -4.10157914e-01 -1.79983086e-02 3.06737826e+02] [ 4.10070380e-01 9.12014453e-01 -8.48067297e-03 2.10533244e+01] [ 1.98931327e-02 3.52417353e-04 9.99802050e-01 2.66001041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502320588 meters Centerline goodness : 0.997696 with order 1 Centerline is valid? [True, True] Translation: X:306.79, Y:21.08, Z:2.66 [[ 9.12435928e-01 -4.08823760e-01 -1.79947150e-02 3.06791302e+02] [ 4.08735817e-01 9.12613270e-01 -8.48829138e-03 2.10786449e+01] [ 1.98924309e-02 3.89937507e-04 9.99802050e-01 2.65998265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562320588 meters Centerline goodness : 0.996858 with order 1 Centerline is valid? [True, True] Translation: X:306.84, Y:21.11, Z:2.67 [[ 9.15806832e-01 -4.01215837e-01 -1.79916291e-02 3.06843585e+02] [ 4.01126292e-01 9.15983371e-01 -8.49482715e-03 2.11056789e+01] [ 1.98882922e-02 5.62705285e-04 9.99802050e-01 2.66956773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622320588 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:306.90, Y:21.13, Z:2.66 [[ 9.14316062e-01 -4.04601613e-01 -1.79909184e-02 3.06897461e+02] [ 4.04512693e-01 9.14492916e-01 -8.49633204e-03 2.11323382e+01] [ 1.98901971e-02 4.90778020e-04 9.99802050e-01 2.66405027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.682320588 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:306.95, Y:21.16, Z:2.65 [[ 9.08486458e-01 -4.17526969e-01 -1.79884968e-02 3.06950789e+02] [ 4.17440464e-01 9.08664506e-01 -8.50145586e-03 2.11591422e+01] [ 1.98950957e-02 2.14331061e-04 9.99802050e-01 2.64943268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.742320588 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:307.00, Y:21.18, Z:2.65 [[ 9.09023970e-01 -4.16355555e-01 -1.79854072e-02 3.07003340e+02] [ 4.16268691e-01 9.09201843e-01 -8.50798723e-03 2.11838605e+01] [ 1.98947131e-02 2.47202424e-04 9.99802050e-01 2.65372083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.802320588 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:307.05, Y:21.21, Z:2.65 [[ 9.10258852e-01 -4.13648976e-01 -1.79818504e-02 3.07054691e+02] [ 4.13561435e-01 9.10436393e-01 -8.51549800e-03 2.12118123e+01] [ 1.98937580e-02 3.14707587e-04 9.99802050e-01 2.65266356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.862320588 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:307.11, Y:21.24, Z:2.65 [[ 9.10995491e-01 -4.12024266e-01 -1.79782833e-02 3.07107335e+02] [ 4.11936260e-01 9.11172802e-01 -8.52302229e-03 2.12379623e+01] [ 1.98930148e-02 3.58528088e-04 9.99802050e-01 2.65383601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.922320588 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:307.16, Y:21.26, Z:2.66 [[ 9.12141037e-01 -4.09482158e-01 -1.79747202e-02 3.07160395e+02] [ 4.09393510e-01 9.12318028e-01 -8.53053008e-03 2.12644870e+01] [ 1.98917612e-02 4.22312748e-04 9.99802050e-01 2.65608896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98232058799994 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:307.21, Y:21.29, Z:2.66 [[ 9.11909145e-01 -4.09998456e-01 -1.79715973e-02 3.07213461e+02] [ 4.09909779e-01 9.12086120e-01 -8.53710422e-03 2.12905576e+01] [ 1.98918440e-02 4.18329945e-04 9.99802050e-01 2.65610408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04232058799994 meters Centerline goodness : 0.998594 with order 1 Centerline is valid? [True, True] Translation: X:307.27, Y:21.32, Z:2.66 [[ 9.12360037e-01 -4.08994251e-01 -1.79684709e-02 3.07266496e+02] [ 4.08905250e-01 9.12536850e-01 -8.54367939e-03 2.13169148e+01] [ 1.98912076e-02 4.47509554e-04 9.99802050e-01 2.65804443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10232058799994 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:307.32, Y:21.34, Z:2.66 [[ 9.12506341e-01 -4.08667865e-01 -1.79653484e-02 3.07319285e+02] [ 4.08578671e-01 9.12683057e-01 -8.55024032e-03 2.13423953e+01] [ 1.98908775e-02 4.61890343e-04 9.99802050e-01 2.65918402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16232058799994 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:307.37, Y:21.37, Z:2.66 [[ 9.12816998e-01 -4.07973655e-01 -1.79617771e-02 3.07372183e+02] [ 4.07884180e-01 9.12993571e-01 -8.55773597e-03 2.13679234e+01] [ 1.98903179e-02 4.85322122e-04 9.99802050e-01 2.66019164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22232058799995 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:307.42, Y:21.39, Z:2.66 [[ 9.13070152e-01 -4.07406903e-01 -1.79586536e-02 3.07424546e+02] [ 4.07317189e-01 9.13246605e-01 -8.56428572e-03 2.13931636e+01] [ 1.98898286e-02 5.04925353e-04 9.99802050e-01 2.66086910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28232058799995 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:307.48, Y:21.42, Z:2.66 [[ 9.12684394e-01 -4.08270513e-01 -1.79550720e-02 3.07478070e+02] [ 4.08180819e-01 9.12860857e-01 -8.57178804e-03 2.14184198e+01] [ 1.98900907e-02 4.94421191e-04 9.99802050e-01 2.66301153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34232058799995 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:307.53, Y:21.44, Z:2.66 [[ 9.12460067e-01 -4.08771763e-01 -1.79519361e-02 3.07531838e+02] [ 4.08682036e-01 9.12636513e-01 -8.57835056e-03 2.14437674e+01] [ 1.98901798e-02 4.90768533e-04 9.99802050e-01 2.66359147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40232058799995 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:307.59, Y:21.47, Z:2.67 [[ 9.11346423e-01 -4.11248754e-01 -1.79487957e-02 3.07586779e+02] [ 4.11159378e-01 9.11523047e-01 -8.58491636e-03 2.14664348e+01] [ 1.98912771e-02 4.44017158e-04 9.99802050e-01 2.66655400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46232058799995 meters Centerline goodness : 0.998027 with order 1 Centerline is valid? [True, True] Translation: X:307.64, Y:21.49, Z:2.69 [[ 9.18268940e-01 -3.95550385e-01 -1.79456581e-02 3.07638570e+02] [ 3.95457864e-01 9.18443937e-01 -8.59147010e-03 2.14930737e+01] [ 1.98804402e-02 7.92528543e-04 9.99802050e-01 2.68744013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52232058799996 meters Centerline goodness : 0.997775 with order 1 Centerline is valid? [True, True] Translation: X:307.69, Y:21.52, Z:2.69 [[ 9.17503400e-01 -3.97322914e-01 -1.79447515e-02 3.07692185e+02] [ 3.97230693e-01 9.17678555e-01 -8.59336328e-03 2.15157158e+01] [ 1.98818537e-02 7.56233957e-04 9.99802050e-01 2.68915010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.75, Y:21.54, Z:2.67 [[ 9.08362381e-01 -4.17798875e-01 -1.79411694e-02 3.07747364e+02] [ 4.17710458e-01 9.08539487e-01 -8.60083544e-03 2.15391822e+01] [ 1.98936802e-02 3.18461270e-04 9.99802050e-01 2.66902786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64232058799996 meters Centerline goodness : 0.999858 with order 1 Centerline is valid? [True, True] Translation: X:307.80, Y:21.56, Z:2.67 [[ 9.06917263e-01 -4.20926617e-01 -1.79405049e-02 3.07801018e+02] [ 4.20838784e-01 9.07094659e-01 -8.60222137e-03 2.15618369e+01] [ 1.98946401e-02 2.51442808e-04 9.99802050e-01 2.66991104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70232058799996 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:307.86, Y:21.59, Z:2.69 [[ 9.12643914e-01 -4.08361793e-01 -1.79368989e-02 3.07855692e+02] [ 4.08271370e-01 9.12820005e-01 -8.60973383e-03 2.15851471e+01] [ 1.98890464e-02 5.34498902e-04 9.99802050e-01 2.69314860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76232058799997 meters Centerline goodness : 0.998346 with order 1 Centerline is valid? [True, True] Translation: X:307.91, Y:21.61, Z:2.70 [[ 9.10035256e-01 -4.14142734e-01 -1.79339847e-02 3.07909445e+02] [ 4.14053311e-01 9.10211856e-01 -8.61579973e-03 2.16077157e+01] [ 1.98918964e-02 4.15055768e-04 9.99802051e-01 2.69592684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82232058799997 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:307.97, Y:21.63, Z:2.67 [[ 9.00972436e-01 -4.33505675e-01 -1.79304043e-02 3.07967060e+02] [ 4.33419900e-01 9.01150836e-01 -8.62324447e-03 2.16264621e+01] [ 1.98962243e-02 -2.08846612e-06 9.99802051e-01 2.67202912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.02, Y:21.65, Z:2.67 [[ 9.00180726e-01 -4.35147326e-01 -1.79294384e-02 3.08020318e+02] [ 4.35061837e-01 9.00359263e-01 -8.62525231e-03 2.16524220e+01] [ 1.98961914e-02 -3.61285178e-05 9.99802051e-01 2.67074558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942320588 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:308.07, Y:21.68, Z:2.69 [[ 9.08968012e-01 -4.16480253e-01 -1.79262913e-02 3.08072686e+02] [ 4.16390969e-01 9.09144682e-01 -8.63178811e-03 2.16798780e+01] [ 1.98925617e-02 3.81673460e-04 9.99802051e-01 2.69392459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002320588 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:308.13, Y:21.71, Z:2.68 [[ 9.02365869e-01 -4.30597944e-01 -1.79233980e-02 3.08127590e+02] [ 4.30511306e-01 9.02543852e-01 -8.63779176e-03 2.17050668e+01] [ 1.98960680e-02 7.82230018e-05 9.99802051e-01 2.67602693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:308.18, Y:21.73, Z:2.68 [[ 9.01177434e-01 -4.33079705e-01 -1.79221092e-02 3.08180522e+02] [ 4.32993504e-01 9.01355628e-01 -8.64046497e-03 2.17310103e+01] [ 1.98962040e-02 2.64351890e-05 9.99802051e-01 2.67572308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.24, Y:21.75, Z:2.68 [[ 9.00179939e-01 -4.35149387e-01 -1.79189513e-02 3.08235333e+02] [ 4.35063464e-01 9.00358268e-01 -8.64700895e-03 2.17541437e+01] [ 1.98962166e-02 -1.20170480e-05 9.99802051e-01 2.67870057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.29, Y:21.78, Z:2.68 [[ 9.00039913e-01 -4.35439066e-01 -1.79157763e-02 3.08287487e+02] [ 4.35353070e-01 9.00218207e-01 -8.65358231e-03 2.17810190e+01] [ 1.98962158e-02 -1.11187444e-05 9.99802051e-01 2.67779092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.34, Y:21.80, Z:2.68 [[ 8.99238038e-01 -4.37092789e-01 -1.79121475e-02 3.08340385e+02] [ 4.37006972e-01 8.99416418e-01 -8.66108715e-03 2.18049041e+01] [ 1.98961782e-02 -3.93543154e-05 9.99802051e-01 2.67962167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.302320588 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:308.39, Y:21.83, Z:2.71 [[ 9.06179944e-01 -4.22512952e-01 -1.79085254e-02 3.08393323e+02] [ 4.22424117e-01 9.06356840e-01 -8.66857002e-03 2.18305164e+01] [ 1.98940976e-02 2.90291263e-04 9.99802051e-01 2.70574604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.362320588 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:308.45, Y:21.86, Z:2.71 [[ 9.06343290e-01 -4.22162485e-01 -1.79074759e-02 3.08446318e+02] [ 4.22073539e-01 9.06520130e-01 -8.67073747e-03 2.18568779e+01] [ 1.98939475e-02 3.00392974e-04 9.99802051e-01 2.70596803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.422320588 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:308.50, Y:21.88, Z:2.71 [[ 9.07106014e-01 -4.20521239e-01 -1.79043740e-02 3.08499639e+02] [ 4.20431847e-01 9.07282629e-01 -8.67713795e-03 2.18829938e+01] [ 1.98932483e-02 3.43514976e-04 9.99802051e-01 2.70739029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48232058799994 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:308.55, Y:21.91, Z:2.69 [[ 9.01201898e-01 -4.33029655e-01 -1.79012998e-02 3.08552899e+02] [ 4.32942588e-01 9.01379672e-01 -8.68347553e-03 2.19100584e+01] [ 1.98960702e-02 7.53295551e-05 9.99802051e-01 2.68620147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.61, Y:21.93, Z:2.69 [[ 9.00425615e-01 -4.34641624e-01 -1.78989084e-02 3.08605080e+02] [ 4.34554778e-01 9.00603496e-01 -8.68840201e-03 2.19347479e+01] [ 1.98961607e-02 4.52035445e-05 9.99802051e-01 2.68777033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60232058799994 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:308.66, Y:21.96, Z:2.69 [[ 8.99599123e-01 -4.36349786e-01 -1.78964189e-02 3.08657721e+02] [ 4.36263176e-01 8.99777119e-01 -8.69352704e-03 2.19594723e+01] [ 1.98962069e-02 1.31407787e-05 9.99802051e-01 2.69109499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66232058799994 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:308.71, Y:21.99, Z:2.71 [[ 9.06335599e-01 -4.22179620e-01 -1.78927819e-02 3.08709738e+02] [ 4.22090079e-01 9.06512139e-01 -8.70100607e-03 2.19867712e+01] [ 1.98934114e-02 3.33665805e-04 9.99802051e-01 2.71222558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72232058799995 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:308.76, Y:22.01, Z:2.72 [[ 9.06649955e-01 -4.21504228e-01 -1.78897945e-02 3.08762587e+02] [ 4.21414435e-01 9.06826367e-01 -8.70714397e-03 2.20126419e+01] [ 1.98930354e-02 3.55314040e-04 9.99802051e-01 2.71632021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.82, Y:22.04, Z:2.69 [[ 8.98904526e-01 -4.37779215e-01 -1.78889005e-02 3.08816904e+02] [ 4.37692580e-01 8.99082510e-01 -8.70898033e-03 2.20378152e+01] [ 1.98962081e-02 -1.29718835e-06 9.99802051e-01 2.69405991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:308.87, Y:22.06, Z:2.70 [[ 8.99094479e-01 -4.37389070e-01 -1.78862756e-02 3.08868233e+02] [ 4.37302251e-01 8.99272373e-01 -8.71436800e-03 2.20646803e+01] [ 1.98962028e-02 1.33315701e-05 9.99802051e-01 2.69527538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.92, Y:22.09, Z:2.70 [[ 8.99192214e-01 -4.37188259e-01 -1.78826200e-02 3.08920534e+02] [ 4.37101251e-01 8.99370016e-01 -8.72186321e-03 2.20894429e+01] [ 1.98961884e-02 2.61159227e-05 9.99802051e-01 2.70023317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96232058799995 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:308.97, Y:22.12, Z:2.72 [[ 9.06744208e-01 -4.21301892e-01 -1.78789712e-02 3.08972897e+02] [ 4.21211622e-01 9.06920376e-01 -8.72933646e-03 2.21154379e+01] [ 1.98924892e-02 3.84444829e-04 9.99802051e-01 2.72489074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02232058799996 meters Centerline goodness : 0.998120 with order 1 Centerline is valid? [True, True] Translation: X:309.03, Y:22.14, Z:2.73 [[ 9.09751741e-01 -4.14767573e-01 -1.78782074e-02 3.09025244e+02] [ 4.14676007e-01 9.09927239e-01 -8.73090039e-03 2.21440774e+01] [ 1.98891623e-02 5.29288156e-04 9.99802051e-01 2.73266162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.08, Y:22.17, Z:2.70 [[ 8.97645414e-01 -4.40355744e-01 -1.78753828e-02 3.09080791e+02] [ 4.40269068e-01 8.97823378e-01 -8.73667959e-03 2.21667260e+01] [ 1.98961836e-02 -2.75377621e-05 9.99802051e-01 2.70249987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.13, Y:22.19, Z:2.70 [[ 8.98099948e-01 -4.39428029e-01 -1.78743058e-02 3.09133603e+02] [ 4.39341126e-01 8.98277801e-01 -8.73888246e-03 2.21910458e+01] [ 1.98962020e-02 -4.52776471e-06 9.99802051e-01 2.70491932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.19, Y:22.22, Z:2.70 [[ 8.98923643e-01 -4.37740703e-01 -1.78706572e-02 3.09185571e+02] [ 4.37653317e-01 8.99101260e-01 -8.74633736e-03 2.22176463e+01] [ 1.98961583e-02 4.11370325e-05 9.99802051e-01 2.70499002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26232058799997 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:309.24, Y:22.25, Z:2.73 [[ 9.06582601e-01 -4.21650042e-01 -1.78670042e-02 3.09237949e+02] [ 4.21559357e-01 9.06758556e-01 -8.75379346e-03 2.22456073e+01] [ 1.98920963e-02 4.04034048e-04 9.99802051e-01 2.72591084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.29, Y:22.27, Z:2.71 [[ 8.98483187e-01 -4.38644319e-01 -1.78640576e-02 3.09292954e+02] [ 4.38556845e-01 8.98660759e-01 -8.75980237e-03 2.22697416e+01] [ 1.98961651e-02 3.61303994e-05 9.99802051e-01 2.70621200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.35, Y:22.30, Z:2.71 [[ 8.98711459e-01 -4.38176477e-01 -1.78630673e-02 3.09346121e+02] [ 4.38088869e-01 8.98888966e-01 -8.76182139e-03 2.22953259e+01] [ 1.98961381e-02 4.87383164e-05 9.99802051e-01 2.70649825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.40, Y:22.32, Z:2.71 [[ 8.98447648e-01 -4.38717277e-01 -1.78598683e-02 3.09398686e+02] [ 4.38629647e-01 8.98625144e-01 -8.76833725e-03 2.23204578e+01] [ 1.98961478e-02 4.40242330e-05 9.99802051e-01 2.70833604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502320588 meters Centerline goodness : 0.997595 with order 1 Centerline is valid? [True, True] Translation: X:309.45, Y:22.34, Z:2.74 [[ 9.07616286e-01 -4.19420830e-01 -1.78562028e-02 3.09453153e+02] [ 4.19329282e-01 9.07791793e-01 -8.77579555e-03 2.23439151e+01] [ 1.98904658e-02 4.77426269e-04 9.99802051e-01 2.73549903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.51, Y:22.37, Z:2.71 [[ 8.98575384e-01 -4.38455859e-01 -1.78532416e-02 3.09506553e+02] [ 4.38367910e-01 8.98752722e-01 -8.78181555e-03 2.23718750e+01] [ 1.98960880e-02 6.48350719e-05 9.99802051e-01 2.71135824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.56, Y:22.40, Z:2.71 [[ 8.98679349e-01 -4.38242824e-01 -1.78508797e-02 3.09559816e+02] [ 4.38154737e-01 8.98856619e-01 -8.78661397e-03 2.23969043e+01] [ 1.98960519e-02 7.49010008e-05 9.99802051e-01 2.71282977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.61, Y:22.42, Z:2.71 [[ 8.97928597e-01 -4.39779144e-01 -1.78476621e-02 3.09612560e+02] [ 4.39691231e-01 8.98105953e-01 -8.79314493e-03 2.24223066e+01] [ 1.98961333e-02 4.81557836e-05 9.99802051e-01 2.71358417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.66, Y:22.45, Z:2.71 [[ 8.96706092e-01 -4.42266635e-01 -1.78439808e-02 3.09664566e+02] [ 4.42179065e-01 8.96883618e-01 -8.80060901e-03 2.24483964e+01] [ 1.98961898e-02 1.32495907e-06 9.99802051e-01 2.71261499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.802320588 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:309.72, Y:22.48, Z:2.73 [[ 9.05368072e-01 -4.24252730e-01 -1.78403005e-02 3.09716927e+02] [ 4.24161482e-01 9.05543735e-01 -8.80806338e-03 2.24762902e+01] [ 1.98920172e-02 4.07371078e-04 9.99802051e-01 2.73482755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.77, Y:22.50, Z:2.71 [[ 8.96147545e-01 -4.43397571e-01 -1.78373744e-02 3.09771986e+02] [ 4.43309959e-01 8.96325049e-01 -8.81398493e-03 2.25014547e+01] [ 1.98961850e-02 -8.85478036e-06 9.99802051e-01 2.71377995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.82, Y:22.53, Z:2.71 [[ 8.95647088e-01 -4.44407705e-01 -1.78349478e-02 3.09824450e+02] [ 4.44320195e-01 8.95824643e-01 -8.81889246e-03 2.25276929e+01] [ 1.98961695e-02 -2.58121411e-05 9.99802051e-01 2.71394665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98232058799994 meters Centerline goodness : 0.997933 with order 1 Centerline is valid? [True, True] Translation: X:309.88, Y:22.55, Z:2.75 [[ 9.07430380e-01 -4.19823954e-01 -1.78312612e-02 3.09877290e+02] [ 4.19731490e-01 9.07605406e-01 -8.82634033e-03 2.25544150e+01] [ 1.98892581e-02 5.24947550e-04 9.99802051e-01 2.74715189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04232058799994 meters Centerline goodness : 0.997885 with order 1 Centerline is valid? [True, True] Translation: X:309.93, Y:22.58, Z:2.75 [[ 9.08961771e-01 -4.16498078e-01 -1.78283439e-02 3.09928856e+02] [ 4.16404858e-01 9.09136396e-01 -8.83222904e-03 2.25843849e+01] [ 1.98870027e-02 6.04349543e-04 9.99802051e-01 2.74979265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10232058799994 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:309.98, Y:22.61, Z:2.75 [[ 9.08577515e-01 -4.17335703e-01 -1.78272264e-02 3.09981502e+02] [ 4.17242600e-01 9.08752202e-01 -8.83448406e-03 2.26111109e+01] [ 1.98874768e-02 5.88535278e-04 9.99802051e-01 2.75089186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.04, Y:22.63, Z:2.72 [[ 8.95320442e-01 -4.45065854e-01 -1.78238786e-02 3.10037476e+02] [ 4.44978030e-01 8.95497842e-01 -8.84123316e-03 2.26325473e+01] [ 1.98961758e-02 -1.54976147e-05 9.99802051e-01 2.72281033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.09, Y:22.66, Z:2.72 [[ 8.94391475e-01 -4.46929775e-01 -1.78231866e-02 3.10090106e+02] [ 4.46842293e-01 8.94569043e-01 -8.84262794e-03 2.26586232e+01] [ 1.98961047e-02 -5.53825293e-05 9.99802051e-01 2.72195767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:310.14, Y:22.68, Z:2.72 [[ 8.94471362e-01 -4.46770017e-01 -1.78194901e-02 3.10142226e+02] [ 4.46682355e-01 8.94648842e-01 -8.85007089e-03 2.26845618e+01] [ 1.98961325e-02 -4.35168099e-05 9.99802051e-01 2.72448792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:310.19, Y:22.71, Z:2.73 [[ 8.94729347e-01 -4.46253283e-01 -1.78158038e-02 3.10194599e+02] [ 4.46165371e-01 8.94906703e-01 -8.85748544e-03 2.27094657e+01] [ 1.98961642e-02 -2.37425323e-05 9.99802051e-01 2.72675215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.25, Y:22.74, Z:2.73 [[ 8.94664516e-01 -4.46383393e-01 -1.78121030e-02 3.10245703e+02] [ 4.46295358e-01 8.94841811e-01 -8.86492134e-03 2.27370930e+01] [ 1.98961682e-02 -1.83283226e-05 9.99802051e-01 2.72516519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.30, Y:22.76, Z:2.73 [[ 8.95252247e-01 -4.45203634e-01 -1.78083931e-02 3.10298678e+02] [ 4.45115218e-01 8.95429352e-01 -8.87236781e-03 2.27622724e+01] [ 1.98961682e-02 1.62204598e-05 9.99802052e-01 2.72682566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.35, Y:22.79, Z:2.72 [[ 8.94979632e-01 -4.45751557e-01 -1.78046901e-02 3.10349569e+02] [ 4.45663102e-01 8.95156718e-01 -8.87979249e-03 2.27902788e+01] [ 1.98961693e-02 1.23399950e-05 9.99802052e-01 2.72494751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.40, Y:22.81, Z:2.73 [[ 8.94458717e-01 -4.46796070e-01 -1.78009767e-02 3.10403272e+02] [ 4.46707673e-01 8.94635832e-01 -8.88723043e-03 2.28143914e+01] [ 1.98961712e-02 -2.57214564e-06 9.99802052e-01 2.72930632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.46, Y:22.84, Z:2.73 [[ 8.94470936e-01 -4.46771738e-01 -1.77977157e-02 3.10455364e+02] [ 4.46683206e-01 8.94647984e-01 -8.89375614e-03 2.28408510e+01] [ 1.98961694e-02 5.26566773e-06 9.99802052e-01 2.73046717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.51, Y:22.87, Z:2.73 [[ 8.94552928e-01 -4.46607695e-01 -1.77940012e-02 3.10507340e+02] [ 4.46518983e-01 8.94729885e-01 -8.90118178e-03 2.28663661e+01] [ 1.98961609e-02 1.72189152e-05 9.99802052e-01 2.73188282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.56, Y:22.89, Z:2.74 [[ 8.94295257e-01 -4.47123584e-01 -1.77902611e-02 3.10560417e+02] [ 4.47034826e-01 8.94472191e-01 -8.90865049e-03 2.28912201e+01] [ 1.98961616e-02 1.40975861e-05 9.99802052e-01 2.73564983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.61, Y:22.92, Z:2.74 [[ 8.93912246e-01 -4.47888978e-01 -1.77865316e-02 3.10611887e+02] [ 4.47800223e-01 8.94089181e-01 -8.91609054e-03 2.29180786e+01] [ 1.98961641e-02 5.38971014e-06 9.99802052e-01 2.73570159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88232058799997 meters Centerline goodness : 0.997832 with order 1 Centerline is valid? [True, True] Translation: X:310.66, Y:22.95, Z:2.76 [[ 9.03020207e-01 -4.29229867e-01 -1.77827839e-02 3.10663196e+02] [ 4.29137310e-01 9.03195183e-01 -8.92355884e-03 2.29476900e+01] [ 1.98915827e-02 4.26897907e-04 9.99802052e-01 2.76300339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.72, Y:22.97, Z:2.74 [[ 8.93329093e-01 -4.49051234e-01 -1.77797816e-02 3.10718293e+02] [ 4.48962442e-01 8.93506009e-01 -8.92953683e-03 2.29718979e+01] [ 1.98961612e-02 -5.43911746e-06 9.99802052e-01 2.73667664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.77, Y:23.00, Z:2.74 [[ 8.92941599e-01 -4.49821317e-01 -1.77787415e-02 3.10769417e+02] [ 4.49732636e-01 8.93118571e-01 -8.93160708e-03 2.29993118e+01] [ 1.98961515e-02 -2.02767841e-05 9.99802052e-01 2.73682087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062320588 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:310.82, Y:23.03, Z:2.76 [[ 8.99865940e-01 -4.35804246e-01 -1.77749826e-02 3.10820785e+02] [ 4.35712661e-01 9.00041427e-01 -8.93908161e-03 2.30275524e+01] [ 1.98939104e-02 2.99190117e-04 9.99802052e-01 2.75629052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122320588 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:310.87, Y:23.05, Z:2.75 [[ 8.98786815e-01 -4.38025504e-01 -1.77741338e-02 3.10874756e+02] [ 4.37934319e-01 8.98962510e-01 -8.94076901e-03 2.30541425e+01] [ 1.98945648e-02 2.51942121e-04 9.99802052e-01 2.75474455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.93, Y:23.08, Z:2.74 [[ 8.91920981e-01 -4.51841936e-01 -1.77715713e-02 3.10927927e+02] [ 4.51753372e-01 8.92098012e-01 -8.94585960e-03 2.30791285e+01] [ 1.98960979e-02 -4.93673840e-05 9.99802052e-01 2.73964138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.242320588 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:310.98, Y:23.11, Z:2.76 [[ 8.98095127e-01 -4.39442095e-01 -1.77704091e-02 3.10979763e+02] [ 4.39351042e-01 8.98270890e-01 -8.94816758e-03 2.31081621e+01] [ 1.98948427e-02 2.28857947e-04 9.99802052e-01 2.76034835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.03, Y:23.13, Z:2.74 [[ 8.89281625e-01 -4.57014780e-01 -1.77674486e-02 3.11034574e+02] [ 4.56927082e-01 8.89459087e-01 -8.95404199e-03 2.31336710e+01] [ 1.98955482e-02 -1.55763455e-04 9.99802052e-01 2.74182393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.09, Y:23.16, Z:2.74 [[ 8.87651077e-01 -4.60173846e-01 -1.77650721e-02 3.11086624e+02] [ 4.60086686e-01 8.87828802e-01 -8.95875468e-03 2.31596383e+01] [ 1.98949273e-02 -2.21224898e-04 9.99802052e-01 2.74295324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.14, Y:23.19, Z:2.74 [[ 8.86507594e-01 -4.62373029e-01 -1.77613773e-02 3.11137952e+02] [ 4.62286163e-01 8.86685464e-01 -8.96607387e-03 2.31867684e+01] [ 1.98944258e-02 -2.62346387e-04 9.99802052e-01 2.74357926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48232058799994 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:311.19, Y:23.22, Z:2.78 [[ 8.97541292e-01 -4.40572687e-01 -1.77576900e-02 3.11189376e+02] [ 4.40481356e-01 8.97716912e-01 -8.97337071e-03 2.32157932e+01] [ 1.98948007e-02 2.32039356e-04 9.99802052e-01 2.77944783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54232058799994 meters Centerline goodness : 0.998484 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:23.24, Z:2.77 [[ 8.94834036e-01 -4.46045682e-01 -1.77566202e-02 3.11242834e+02] [ 4.45955383e-01 8.95010188e-01 -8.97548717e-03 2.32436805e+01] [ 1.98958333e-02 1.12911039e-04 9.99802052e-01 2.77285120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60232058799994 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:311.30, Y:23.27, Z:2.77 [[ 8.93000442e-01 -4.49705470e-01 -1.77539207e-02 3.11295258e+02] [ 4.49615787e-01 8.93176908e-01 -8.98082378e-03 2.32718065e+01] [ 1.98961176e-02 3.74365809e-05 9.99802052e-01 2.77280973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66232058799994 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:23.30, Z:2.77 [[ 8.88985376e-01 -4.57591425e-01 -1.77507370e-02 3.11349428e+02] [ 4.57503182e-01 8.89162567e-01 -8.98711208e-03 2.32964459e+01] [ 1.98957163e-02 -1.31607435e-04 9.99802052e-01 2.76556164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.40, Y:23.32, Z:2.75 [[ 8.81290064e-01 -4.72242279e-01 -1.77497227e-02 3.11401726e+02] [ 4.72156940e-01 8.81468672e-01 -8.98911480e-03 2.33232428e+01] [ 1.98908646e-02 -4.58637197e-04 9.99802052e-01 2.75009307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78232058799995 meters Centerline goodness : 0.998398 with order 1 Centerline is valid? [True, True] Translation: X:311.46, Y:23.35, Z:2.78 [[ 8.88489910e-01 -4.58552797e-01 -1.77486059e-02 3.11455463e+02] [ 4.58464662e-01 8.88667154e-01 -8.99131935e-03 2.33481072e+01] [ 1.98955977e-02 -1.48412084e-04 9.99802052e-01 2.77974757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.51, Y:23.37, Z:2.75 [[ 8.78344367e-01 -4.77698922e-01 -1.77457687e-02 3.11509020e+02] [ 4.77614535e-01 8.78523427e-01 -8.99691560e-03 2.33745473e+01] [ 1.98878904e-02 -5.73246912e-04 9.99802052e-01 2.75070406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.56, Y:23.40, Z:2.75 [[ 8.79230114e-01 -4.76066733e-01 -1.77446272e-02 3.11561233e+02] [ 4.75981969e-01 8.79408995e-01 -8.99916632e-03 2.34008051e+01] [ 1.98889885e-02 -5.33784566e-04 9.99802052e-01 2.75453265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.61, Y:23.43, Z:2.76 [[ 8.81063835e-01 -4.72664476e-01 -1.77429488e-02 3.11613410e+02] [ 4.72578954e-01 8.81242355e-01 -9.00247433e-03 2.34266246e+01] [ 1.98909878e-02 -4.53189622e-04 9.99802052e-01 2.75705372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.67, Y:23.45, Z:2.76 [[ 8.81074951e-01 -4.72643891e-01 -1.77393038e-02 3.11665085e+02] [ 4.72558221e-01 8.81253399e-01 -9.00965099e-03 2.34529347e+01] [ 1.98911783e-02 -4.44676051e-04 9.99802052e-01 2.75799511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08232058799996 meters Centerline goodness : 0.993843 with order 1 Centerline is valid? [True, True] Translation: X:311.72, Y:23.48, Z:2.80 [[ 8.95156216e-01 -4.45399591e-01 -1.77356643e-02 3.11715769e+02] [ 4.45308346e-01 8.95331879e-01 -9.01680982e-03 2.34826347e+01] [ 1.98953890e-02 1.73614040e-04 9.99802052e-01 2.79720150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14232058799996 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:311.77, Y:23.51, Z:2.78 [[ 8.92056134e-01 -4.51576507e-01 -1.77345050e-02 3.11769111e+02] [ 4.51486433e-01 8.92232401e-01 -9.01908941e-03 2.35088094e+01] [ 1.98961088e-02 3.86456415e-05 9.99802052e-01 2.78352335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20232058799996 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:311.82, Y:23.54, Z:2.76 [[ 8.82875207e-01 -4.69272734e-01 -1.77333176e-02 3.11822684e+02] [ 4.69186146e-01 8.83053212e-01 -9.02142336e-03 2.35350240e+01] [ 1.98929711e-02 -3.55435927e-04 9.99802052e-01 2.75745886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26232058799997 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:311.87, Y:23.56, Z:2.79 [[ 8.96196256e-01 -4.43303328e-01 -1.77322056e-02 3.11873734e+02] [ 4.43211537e-01 8.96371635e-01 -9.02360857e-03 2.35632589e+01] [ 1.98948418e-02 2.27806106e-04 9.99802052e-01 2.79187351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32232058799997 meters Centerline goodness : 0.997966 with order 1 Centerline is valid? [True, True] Translation: X:311.93, Y:23.59, Z:2.79 [[ 8.95059348e-01 -4.45594389e-01 -1.77314268e-02 3.11926748e+02] [ 4.45503017e-01 8.95234946e-01 -9.02513862e-03 2.35900935e+01] [ 1.98953441e-02 1.78630542e-04 9.99802052e-01 2.78772749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38232058799997 meters Centerline goodness : 0.996443 with order 1 Centerline is valid? [True, True] Translation: X:311.98, Y:23.62, Z:2.80 [[ 8.99183260e-01 -4.37212955e-01 -1.77284341e-02 3.11979329e+02] [ 4.37119831e-01 8.99357934e-01 -9.03101358e-03 2.36183679e+01] [ 1.98926840e-02 3.71086114e-04 9.99802052e-01 2.79760035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442320588 meters Centerline goodness : 0.997727 with order 1 Centerline is valid? [True, True] Translation: X:312.03, Y:23.65, Z:2.80 [[ 8.97855566e-01 -4.39933096e-01 -1.77272141e-02 3.12032942e+02] [ 4.39840454e-01 8.98030497e-01 -9.03340758e-03 2.36450448e+01] [ 1.98936739e-02 3.13549365e-04 9.99802052e-01 2.79510080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502320588 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:312.09, Y:23.67, Z:2.77 [[ 8.86340820e-01 -4.62694071e-01 -1.77241906e-02 3.12086321e+02] [ 4.62605803e-01 8.86517998e-01 -9.03933617e-03 2.36717012e+01] [ 1.98952612e-02 -1.87380763e-04 9.99802052e-01 2.76585930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562320588 meters Centerline goodness : 0.997770 with order 1 Centerline is valid? [True, True] Translation: X:312.14, Y:23.70, Z:2.79 [[ 8.96795397e-01 -4.42090383e-01 -1.77231526e-02 3.12137986e+02] [ 4.41998004e-01 8.96970467e-01 -9.04137088e-03 2.37002910e+01] [ 1.98942475e-02 2.74661726e-04 9.99802052e-01 2.79432130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622320588 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:23.73, Z:2.77 [[ 8.84628999e-01 -4.65958652e-01 -1.77219922e-02 3.12191821e+02] [ 4.65870952e-01 8.84806458e-01 -9.04364474e-03 2.37265750e+01] [ 1.98944977e-02 -2.55890977e-04 9.99802052e-01 2.76594125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.25, Y:23.75, Z:2.77 [[ 8.82068535e-01 -4.70787718e-01 -1.77207161e-02 3.12246721e+02] [ 4.70700939e-01 8.82246447e-01 -9.04614449e-03 2.37493001e+01] [ 1.98928526e-02 -3.61838293e-04 9.99802052e-01 2.76826010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.742320588 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:312.30, Y:23.77, Z:2.77 [[ 8.81114756e-01 -4.72570500e-01 -1.77174905e-02 3.12299660e+02] [ 4.72483954e-01 8.81292781e-01 -9.05245762e-03 2.37742290e+01] [ 1.98922209e-02 -3.94975991e-04 9.99802052e-01 2.77027426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.802320588 meters Centerline goodness : 0.997704 with order 1 Centerline is valid? [True, True] Translation: X:312.35, Y:23.80, Z:2.80 [[ 8.91674724e-01 -4.52329976e-01 -1.77138137e-02 3.12351953e+02] [ 4.52239244e-01 8.91850654e-01 -9.05964666e-03 2.38012082e+01] [ 1.98960261e-02 6.73762011e-05 9.99802052e-01 2.79650866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.862320588 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:312.41, Y:23.83, Z:2.77 [[ 8.80474902e-01 -4.73761832e-01 -1.77108173e-02 3.12406501e+02] [ 4.73675265e-01 8.80652917e-01 -9.06550062e-03 2.38266947e+01] [ 1.98919711e-02 -4.07230301e-04 9.99802052e-01 2.77240592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.922320588 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:312.46, Y:23.85, Z:2.78 [[ 8.81588366e-01 -4.71686672e-01 -1.77097968e-02 3.12459366e+02] [ 4.71599645e-01 8.81766157e-01 -9.06749373e-03 2.38517658e+01] [ 1.98929154e-02 -3.58136928e-04 9.99802052e-01 2.77581932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98232058799994 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:312.51, Y:23.88, Z:2.78 [[ 8.82198298e-01 -4.70545065e-01 -1.77060983e-02 3.12511312e+02] [ 4.70457663e-01 8.82375905e-01 -9.07471015e-03 2.38798147e+01] [ 1.98934946e-02 -3.24275766e-04 9.99802052e-01 2.77753956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04232058799994 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:312.56, Y:23.91, Z:2.78 [[ 8.82765074e-01 -4.69481025e-01 -1.77028456e-02 3.12563325e+02] [ 4.69393282e-01 8.82942513e-01 -9.08105096e-03 2.39070094e+01] [ 1.98939761e-02 -2.93162175e-04 9.99802052e-01 2.77828423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10232058799994 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:312.62, Y:23.93, Z:2.78 [[ 8.83092066e-01 -4.68865807e-01 -1.76991165e-02 3.12616784e+02] [ 4.68777795e-01 8.83269371e-01 -9.08831331e-03 2.39307082e+01] [ 1.98942868e-02 -2.71135414e-04 9.99802052e-01 2.78060400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16232058799994 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:312.67, Y:23.96, Z:2.78 [[ 8.84079254e-01 -4.67001869e-01 -1.76954022e-02 3.12668092e+02] [ 4.66913339e-01 8.84256301e-01 -9.09553944e-03 2.39581207e+01] [ 1.98949048e-02 -2.21041609e-04 9.99802052e-01 2.78228853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22232058799995 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:312.72, Y:23.98, Z:2.78 [[ 8.83982941e-01 -4.67184295e-01 -1.76916671e-02 3.12720286e+02] [ 4.67095656e-01 8.84159933e-01 -9.10279873e-03 2.39837339e+01] [ 1.98949478e-02 -2.16982064e-04 9.99802052e-01 2.78411834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28232058799995 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:312.77, Y:24.01, Z:2.79 [[ 8.84086161e-01 -4.66989076e-01 -1.76879250e-02 3.12772028e+02] [ 4.66900252e-01 8.84263061e-01 -9.11006430e-03 2.40109280e+01] [ 1.98950792e-02 -2.04414891e-04 9.99802052e-01 2.78524050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34232058799995 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:312.83, Y:24.04, Z:2.79 [[ 8.84034484e-01 -4.67087039e-01 -1.76841544e-02 3.12825297e+02] [ 4.66998089e-01 8.84211320e-01 -9.11737781e-03 2.40356533e+01] [ 1.98951385e-02 -1.98389932e-04 9.99802052e-01 2.78973219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40232058799995 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:312.88, Y:24.06, Z:2.79 [[ 8.84144003e-01 -4.66879840e-01 -1.76803882e-02 3.12876772e+02] [ 4.66790703e-01 8.84320745e-01 -9.12467535e-03 2.40632128e+01] [ 1.98952611e-02 -1.85513853e-04 9.99802052e-01 2.79003927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46232058799995 meters Centerline goodness : 0.998345 with order 1 Centerline is valid? [True, True] Translation: X:312.93, Y:24.09, Z:2.81 [[ 8.92623808e-01 -4.50455629e-01 -1.76766284e-02 3.12929810e+02] [ 4.50363095e-01 8.92798796e-01 -9.13195317e-03 2.40901470e+01] [ 1.98952123e-02 1.90497726e-04 9.99802053e-01 2.81462879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52232058799996 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:312.98, Y:24.12, Z:2.79 [[ 8.82928571e-01 -4.69174516e-01 -1.76752013e-02 3.12982972e+02] [ 4.69085637e-01 8.83105442e-01 -9.13471469e-03 2.41165711e+01] [ 1.98948418e-02 -2.25882451e-04 9.99802053e-01 2.79478851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58232058799996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:313.04, Y:24.14, Z:2.79 [[ 8.84051684e-01 -4.67054854e-01 -1.76743637e-02 3.13035338e+02] [ 4.66965518e-01 8.84228326e-01 -9.13633490e-03 2.41433203e+01] [ 1.98953426e-02 -1.76326159e-04 9.99802053e-01 2.79448728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:313.09, Y:24.17, Z:2.80 [[ 8.83117008e-01 -4.68819902e-01 -1.76705958e-02 3.13087531e+02] [ 4.68730773e-01 8.83293754e-01 -9.14361668e-03 2.41687006e+01] [ 1.98950364e-02 -2.07868610e-04 9.99802053e-01 2.79565365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70232058799996 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:313.14, Y:24.20, Z:2.80 [[ 8.83216533e-01 -4.68632520e-01 -1.76668262e-02 3.13139737e+02] [ 4.68543208e-01 8.83393187e-01 -9.15089429e-03 2.41952481e+01] [ 1.98951605e-02 -1.95450284e-04 9.99802053e-01 2.79619469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76232058799997 meters Centerline goodness : 0.999905 with order 1 Centerline is valid? [True, True] Translation: X:313.19, Y:24.22, Z:2.80 [[ 8.83056430e-01 -4.68934279e-01 -1.76630556e-02 3.13192117e+02] [ 4.68844883e-01 8.83233041e-01 -9.15816651e-03 2.42206974e+01] [ 1.98951725e-02 -1.94055402e-04 9.99802053e-01 2.79833923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:313.24, Y:24.25, Z:2.80 [[ 8.82454934e-01 -4.70065359e-01 -1.76592349e-02 3.13243932e+02] [ 4.69976041e-01 8.82631585e-01 -9.16552786e-03 2.42467664e+01] [ 1.98949956e-02 -2.11252029e-04 9.99802053e-01 2.79983375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:313.30, Y:24.27, Z:2.80 [[ 8.80746132e-01 -4.73259482e-01 -1.76554187e-02 3.13295691e+02] [ 4.73170658e-01 8.80923031e-01 -9.17287299e-03 2.42735703e+01] [ 1.98942141e-02 -2.75053698e-04 9.99802053e-01 2.79987230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942320588 meters Centerline goodness : 0.999904 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:24.30, Z:2.80 [[ 8.80524826e-01 -4.73671248e-01 -1.76516357e-02 3.13347627e+02] [ 4.73582361e-01 8.80701693e-01 -9.18014696e-03 2.42987172e+01] [ 1.98941972e-02 -2.76156030e-04 9.99802053e-01 2.80386297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:313.40, Y:24.33, Z:2.80 [[ 8.81716545e-01 -4.71449304e-01 -1.76490475e-02 3.13398836e+02] [ 4.71359871e-01 8.81893137e-01 -9.18512023e-03 2.43288135e+01] [ 1.98948924e-02 -2.20380277e-04 9.99802053e-01 2.80366356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.45, Y:24.36, Z:2.81 [[ 8.81806528e-01 -4.71281101e-01 -1.76457228e-02 3.13450413e+02] [ 4.71191507e-01 8.81983039e-01 -9.19150295e-03 2.43567263e+01] [ 1.98950098e-02 -2.09387406e-04 9.99802053e-01 2.80620680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122320588 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:313.50, Y:24.38, Z:2.81 [[ 8.80265379e-01 -4.74153588e-01 -1.76419246e-02 3.13503758e+02] [ 4.74064424e-01 8.80442107e-01 -9.19878724e-03 2.43820799e+01] [ 1.98943313e-02 -2.66034898e-04 9.99802053e-01 2.80660713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.182320588 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:313.56, Y:24.41, Z:2.81 [[ 8.78836152e-01 -4.76797543e-01 -1.76386232e-02 3.13556660e+02] [ 4.76708784e-01 8.79013084e-01 -9.20511332e-03 2.44094121e+01] [ 1.98935560e-02 -3.18700266e-04 9.99802053e-01 2.80885834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.61, Y:24.44, Z:2.81 [[ 8.77266572e-01 -4.79679432e-01 -1.76353099e-02 3.13608540e+02] [ 4.79591127e-01 8.77443731e-01 -9.21145679e-03 2.44350911e+01] [ 1.98925384e-02 -3.76835000e-04 9.99802053e-01 2.80983219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.302320588 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:313.66, Y:24.46, Z:2.81 [[ 8.77451801e-01 -4.79340656e-01 -1.76315453e-02 3.13661238e+02] [ 4.79252138e-01 8.77628854e-01 -9.21865684e-03 2.44623461e+01] [ 1.98928299e-02 -3.61028731e-04 9.99802053e-01 2.81198029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.362320588 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:313.71, Y:24.49, Z:2.82 [[ 8.77946511e-01 -4.78434078e-01 -1.76282710e-02 3.13713357e+02] [ 4.78345251e-01 8.78123409e-01 -9.22491385e-03 2.44890392e+01] [ 1.98933106e-02 -3.33418789e-04 9.99802053e-01 2.81505680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.422320588 meters Centerline goodness : 0.999859 with order 1 Centerline is valid? [True, True] Translation: X:313.77, Y:24.51, Z:2.82 [[ 8.77531087e-01 -4.79195752e-01 -1.76244976e-02 3.13766265e+02] [ 4.79106934e-01 8.77707989e-01 -9.23211736e-03 2.45146598e+01] [ 1.98931538e-02 -3.42549043e-04 9.99802053e-01 2.81587195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48232058799994 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:313.82, Y:24.54, Z:2.82 [[ 8.77718791e-01 -4.78851999e-01 -1.76206510e-02 3.13817884e+02] [ 4.78762965e-01 8.77895584e-01 -9.23945336e-03 2.45424903e+01] [ 1.98934224e-02 -3.26473274e-04 9.99802053e-01 2.81700782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54232058799994 meters Centerline goodness : 0.994215 with order 1 Centerline is valid? [True, True] Translation: X:313.87, Y:24.57, Z:2.85 [[ 8.85489681e-01 -4.64324964e-01 -1.76168602e-02 3.13870423e+02] [ 4.64232884e-01 8.85664907e-01 -9.24667557e-03 2.45686017e+01] [ 1.98960972e-02 9.50996868e-06 9.99802053e-01 2.84888515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60232058799994 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:313.92, Y:24.60, Z:2.82 [[ 8.78589440e-01 -4.77252923e-01 -1.76137421e-02 3.13922994e+02] [ 4.77163302e-01 8.78765937e-01 -9.25261136e-03 2.45965849e+01] [ 1.98941924e-02 -2.75384719e-04 9.99802053e-01 2.82078604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66232058799994 meters Centerline goodness : 0.996158 with order 1 Centerline is valid? [True, True] Translation: X:313.97, Y:24.62, Z:2.85 [[ 8.86952764e-01 -4.61524193e-01 -1.76128927e-02 3.13974560e+02] [ 4.61431411e-01 8.87127619e-01 -9.25422806e-03 2.46246489e+01] [ 1.98959337e-02 8.09212469e-05 9.99802053e-01 2.84829375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72232058799995 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:24.65, Z:2.82 [[ 8.81049313e-01 -4.72696449e-01 -1.76117682e-02 3.14027413e+02] [ 4.72605841e-01 8.81225305e-01 -9.25636745e-03 2.46521743e+01] [ 1.98953879e-02 -1.68108361e-04 9.99802053e-01 2.82286887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78232058799995 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:314.08, Y:24.68, Z:2.83 [[ 8.81479440e-01 -4.71893914e-01 -1.76105075e-02 3.14079313e+02] [ 4.71803098e-01 8.81655325e-01 -9.25876539e-03 2.46779829e+01] [ 1.98955528e-02 -1.47280657e-04 9.99802053e-01 2.82555610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:314.13, Y:24.70, Z:2.83 [[ 8.82447330e-01 -4.70081606e-01 -1.76066372e-02 3.14131159e+02] [ 4.69990281e-01 8.82622951e-01 -9.26611944e-03 2.47037249e+01] [ 1.98958544e-02 -9.80859979e-05 9.99802053e-01 2.82871371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:314.18, Y:24.73, Z:2.83 [[ 8.83501047e-01 -4.68098326e-01 -1.76027868e-02 3.14183035e+02] [ 4.68006462e-01 8.83676386e-01 -9.27342816e-03 2.47308271e+01] [ 1.98960432e-02 -4.51344885e-05 9.99802053e-01 2.83012202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96232058799995 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:314.24, Y:24.76, Z:2.83 [[ 8.83794662e-01 -4.67543872e-01 -1.75989292e-02 3.14235202e+02] [ 4.67451752e-01 8.83969868e-01 -9.28074324e-03 2.47576610e+01] [ 1.98960778e-02 -2.43789735e-05 9.99802053e-01 2.83045117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:314.29, Y:24.79, Z:2.84 [[ 8.85884550e-01 -4.63571977e-01 -1.75950638e-02 3.14286843e+02] [ 4.63478927e-01 8.86059262e-01 -9.28806593e-03 2.47854042e+01] [ 1.98959563e-02 7.32128400e-05 9.99802053e-01 2.83542710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08232058799996 meters Centerline goodness : 0.994897 with order 1 Centerline is valid? [True, True] Translation: X:314.34, Y:24.82, Z:2.87 [[ 8.94030361e-01 -4.47660881e-01 -1.75911847e-02 3.14337203e+02] [ 4.47564578e-01 8.94203301e-01 -9.29540692e-03 2.48164876e+01] [ 1.98912855e-02 4.37184860e-04 9.99802053e-01 2.86648452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14232058799996 meters Centerline goodness : 0.996932 with order 1 Centerline is valid? [True, True] Translation: X:314.39, Y:24.84, Z:2.86 [[ 8.92392310e-01 -4.50917537e-01 -1.75880636e-02 3.14389879e+02] [ 4.50821749e-01 8.92565536e-01 -9.30130871e-03 2.48432607e+01] [ 1.98926226e-02 3.71334796e-04 9.99802053e-01 2.86344029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20232058799996 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:314.44, Y:24.87, Z:2.84 [[ 8.83594294e-01 -4.67922881e-01 -1.75869553e-02 3.14444657e+02] [ 4.67830385e-01 8.83769301e-01 -9.30340383e-03 2.48690921e+01] [ 1.98960867e-02 -7.27751393e-06 9.99802053e-01 2.83741223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26232058799997 meters Centerline goodness : 0.995938 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:24.90, Z:2.87 [[ 8.91434128e-01 -4.52808935e-01 -1.75858618e-02 3.14494873e+02] [ 4.52713432e-01 8.91607513e-01 -9.30547030e-03 2.48988454e+01] [ 1.98932866e-02 3.33857953e-04 9.99802053e-01 2.87406751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32232058799997 meters Centerline goodness : 0.998076 with order 1 Centerline is valid? [True, True] Translation: X:314.55, Y:24.93, Z:2.87 [[ 8.90776725e-01 -4.54100872e-01 -1.75847906e-02 3.14547449e+02] [ 4.54005580e-01 8.90950225e-01 -9.30749403e-03 2.49260044e+01] [ 1.98937143e-02 3.07305968e-04 9.99802053e-01 2.87317853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38232058799997 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:314.60, Y:24.95, Z:2.84 [[ 8.78637196e-01 -4.77166091e-01 -1.75840605e-02 3.14601783e+02] [ 4.77075327e-01 8.78813107e-01 -9.30887329e-03 2.49508771e+01] [ 1.98949815e-02 -2.09799070e-04 9.99802053e-01 2.84367051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:314.65, Y:24.98, Z:2.85 [[ 8.77916445e-01 -4.78490917e-01 -1.75828880e-02 3.14653080e+02] [ 4.78400373e-01 8.78092470e-01 -9.31108733e-03 2.49788634e+01] [ 1.98946723e-02 -2.37303509e-04 9.99802053e-01 2.84671204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:25.00, Z:2.85 [[ 8.75908114e-01 -4.82157601e-01 -1.75790604e-02 3.14705177e+02] [ 4.82067650e-01 8.76084442e-01 -9.31830818e-03 2.50042531e+01] [ 1.98936344e-02 -3.12314589e-04 9.99802053e-01 2.84954639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562320588 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:314.75, Y:25.04, Z:2.87 [[ 8.87680095e-01 -4.60125157e-01 -1.75752475e-02 3.14754377e+02] [ 4.60030686e-01 8.87854044e-01 -9.32549412e-03 2.50370459e+01] [ 1.98951490e-02 1.92902335e-04 9.99802053e-01 2.87366505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.81, Y:25.06, Z:2.85 [[ 8.75359669e-01 -4.83152769e-01 -1.75741953e-02 3.14809063e+02] [ 4.83062834e-01 8.75536005e-01 -9.32747653e-03 2.50631024e+01] [ 1.98934369e-02 -3.24543838e-04 9.99802053e-01 2.84666864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.86, Y:25.09, Z:2.85 [[ 8.76101237e-01 -4.81806884e-01 -1.75712319e-02 3.14860844e+02] [ 4.81716567e-01 8.76277378e-01 -9.33305575e-03 2.50900363e+01] [ 1.98940035e-02 -2.87651817e-04 9.99802053e-01 2.85087122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.742320588 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:314.91, Y:25.12, Z:2.85 [[ 8.75406494e-01 -4.83068170e-01 -1.75674164e-02 3.14912090e+02] [ 4.82977962e-01 8.75582691e-01 -9.34023218e-03 2.51185017e+01] [ 1.98936946e-02 -3.08175060e-04 9.99802053e-01 2.85456508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.96, Y:25.15, Z:2.85 [[ 8.73883206e-01 -4.85818550e-01 -1.75635843e-02 3.14962945e+02] [ 4.85728752e-01 8.74059612e-01 -9.34743255e-03 2.51462622e+01] [ 1.98927758e-02 -3.62573558e-04 9.99802053e-01 2.85260027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.862320588 meters Centerline goodness : 0.997836 with order 1 Centerline is valid? [True, True] Translation: X:315.02, Y:25.17, Z:2.88 [[ 8.82927208e-01 -4.69181414e-01 -1.75597791e-02 3.15015753e+02] [ 4.69088149e-01 8.83101806e-01 -9.35457544e-03 2.51722181e+01] [ 1.98960656e-02 2.23249238e-05 9.99802053e-01 2.88061868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.922320588 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:315.07, Y:25.20, Z:2.86 [[ 8.69592211e-01 -4.93458293e-01 -1.75584822e-02 3.15069587e+02] [ 4.93369851e-01 8.69769301e-01 -9.35700911e-03 2.51997324e+01] [ 1.98891225e-02 -5.26043494e-04 9.99802053e-01 2.85574803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98232058799994 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:315.12, Y:25.23, Z:2.85 [[ 8.70207806e-01 -4.92371988e-01 -1.75556384e-02 3.15122289e+02] [ 4.92283217e-01 8.70384731e-01 -9.36234157e-03 2.52253760e+01] [ 1.98899143e-02 -4.95163429e-04 9.99802053e-01 2.85437241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04232058799994 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:315.17, Y:25.25, Z:2.86 [[ 8.70920073e-01 -4.91111147e-01 -1.75518697e-02 3.15173644e+02] [ 4.91021978e-01 8.71096798e-01 -9.36940150e-03 2.52522653e+01] [ 1.98907950e-02 -4.58353937e-04 9.99802054e-01 2.85648140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10232058799994 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:315.23, Y:25.28, Z:2.86 [[ 8.70252688e-01 -4.92292925e-01 -1.75480817e-02 3.15225171e+02] [ 4.92203854e-01 8.70429462e-01 -9.37649078e-03 2.52790538e+01] [ 1.98903474e-02 -4.77317125e-04 9.99802054e-01 2.85918817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16232058799994 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:315.28, Y:25.31, Z:2.86 [[ 8.69764529e-01 -4.93155009e-01 -1.75442586e-02 3.15277187e+02] [ 4.93065968e-01 8.69941319e-01 -9.38363870e-03 2.53063663e+01] [ 1.98900639e-02 -4.88920749e-04 9.99802054e-01 2.85805319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22232058799995 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:315.33, Y:25.33, Z:2.86 [[ 8.71216248e-01 -4.90585955e-01 -1.75404912e-02 3.15329137e+02] [ 4.90496252e-01 8.71392703e-01 -9.39067559e-03 2.53328963e+01] [ 1.98915896e-02 -4.22236046e-04 9.99802054e-01 2.86062618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28232058799995 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:315.38, Y:25.36, Z:2.86 [[ 8.71258122e-01 -4.90511721e-01 -1.75367006e-02 3.15380321e+02] [ 4.90421860e-01 8.71434496e-01 -9.39774913e-03 2.53606974e+01] [ 1.98917919e-02 -4.12516068e-04 9.99802054e-01 2.86461818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34232058799995 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:315.43, Y:25.39, Z:2.86 [[ 8.73065192e-01 -4.87288179e-01 -1.75328823e-02 3.15431824e+02] [ 4.87197524e-01 8.73241159e-01 -9.40486726e-03 2.53881457e+01] [ 1.98933151e-02 -3.30914626e-04 9.99802054e-01 2.86497593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40232058799995 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:315.48, Y:25.41, Z:2.87 [[ 8.73223660e-01 -4.87004283e-01 -1.75290504e-02 3.15484260e+02] [ 4.86913427e-01 8.73399524e-01 -9.41200390e-03 2.54144321e+01] [ 1.98935505e-02 -3.16345511e-04 9.99802054e-01 2.86718189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46232058799995 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:315.53, Y:25.44, Z:2.87 [[ 8.72959765e-01 -4.87477297e-01 -1.75252203e-02 3.15534776e+02] [ 4.87386394e-01 8.73135604e-01 -9.41913021e-03 2.54431101e+01] [ 1.98935059e-02 -3.19032221e-04 9.99802054e-01 2.86679765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52232058799996 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:25.47, Z:2.87 [[ 8.72900805e-01 -4.87583005e-01 -1.75213696e-02 3.15587579e+02] [ 4.87491980e-01 8.73076580e-01 -9.42628782e-03 2.54687638e+01] [ 1.98935952e-02 -3.13312918e-04 9.99802054e-01 2.86951732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58232058799996 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:315.64, Y:25.50, Z:2.87 [[ 8.73248913e-01 -4.86959417e-01 -1.75174988e-02 3.15638783e+02] [ 4.86868121e-01 8.73424549e-01 -9.43347565e-03 2.54956904e+01] [ 1.98939333e-02 -2.90939386e-04 9.99802054e-01 2.87233617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64232058799996 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:315.69, Y:25.52, Z:2.87 [[ 8.72824329e-01 -4.87720170e-01 -1.75136285e-02 3.15690837e+02] [ 4.87628883e-01 8.72999969e-01 -9.44065554e-03 2.55227733e+01] [ 1.98937953e-02 -3.00117284e-04 9.99802054e-01 2.87091328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70232058799996 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:315.74, Y:25.55, Z:2.88 [[ 8.77673524e-01 -4.78939029e-01 -1.75097505e-02 3.15742753e+02] [ 4.78845842e-01 8.77848164e-01 -9.44784276e-03 2.55483435e+01] [ 1.98958429e-02 -9.23497466e-05 9.99802054e-01 2.87725342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76232058799997 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:315.79, Y:25.58, Z:2.88 [[ 8.75392254e-01 -4.83096208e-01 -1.75058576e-02 3.15793853e+02] [ 4.83003706e-01 8.75567257e-01 -9.45505026e-03 2.55775489e+01] [ 1.98952547e-02 -1.78516361e-04 9.99802054e-01 2.87534515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82232058799997 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:315.85, Y:25.61, Z:2.90 [[ 8.85176339e-01 -4.64926351e-01 -1.75025190e-02 3.15845118e+02] [ 4.64830135e-01 8.85349327e-01 -9.46122651e-03 2.56066498e+01] [ 1.98946169e-02 2.39155583e-04 9.99802054e-01 2.89718956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88232058799997 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:25.63, Z:2.88 [[ 8.73874396e-01 -4.85836641e-01 -1.75013614e-02 3.15899866e+02] [ 4.85744521e-01 8.74049601e-01 -9.46336740e-03 2.56321262e+01] [ 1.98947085e-02 -2.31395916e-04 9.99802054e-01 2.87678244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942320588 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:315.95, Y:25.66, Z:2.88 [[ 8.74081075e-01 -4.85464813e-01 -1.74982945e-02 3.15951697e+02] [ 4.85372505e-01 8.74256180e-01 -9.46903484e-03 2.56596592e+01] [ 1.98948753e-02 -2.16486884e-04 9.99802054e-01 2.87703514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002320588 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:316.01, Y:25.68, Z:2.88 [[ 8.75755485e-01 -4.82437847e-01 -1.74944082e-02 3.16005783e+02] [ 4.82344790e-01 8.75930194e-01 -9.47620942e-03 2.56835485e+01] [ 1.98955625e-02 -1.39494288e-04 9.99802054e-01 2.87836643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062320588 meters Centerline goodness : 0.999578 with order 1 Centerline is valid? [True, True] Translation: X:316.06, Y:25.71, Z:2.88 [[ 8.75222878e-01 -4.83403537e-01 -1.74909726e-02 3.16055364e+02] [ 4.83310547e-01 8.75397622e-01 -9.48254660e-03 2.57149419e+01] [ 1.98954524e-02 -1.54229806e-04 9.99802054e-01 2.87906614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122320588 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:316.11, Y:25.74, Z:2.88 [[ 8.75233145e-01 -4.83385069e-01 -1.74876057e-02 3.16106720e+02] [ 4.83291951e-01 8.75407821e-01 -9.48875169e-03 2.57426368e+01] [ 1.98955077e-02 -1.46749093e-04 9.99802054e-01 2.87989096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.16, Y:25.77, Z:2.88 [[ 8.77321918e-01 -4.79583750e-01 -1.74836665e-02 3.16156853e+02] [ 4.79489731e-01 8.77496110e-01 -9.49600447e-03 2.57717757e+01] [ 1.98959788e-02 -5.21856817e-05 9.99802054e-01 2.88275620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.21, Y:25.80, Z:2.89 [[ 8.82188568e-01 -4.70571770e-01 -1.74797050e-02 3.16207982e+02] [ 4.70475827e-01 8.82361708e-01 -9.50329097e-03 2.57998559e+01] [ 1.98954028e-02 1.59916004e-04 9.99802054e-01 2.88923193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.26, Y:25.83, Z:2.89 [[ 8.80644293e-01 -4.73455626e-01 -1.74756910e-02 3.16258541e+02] [ 4.73360104e-01 8.80817665e-01 -9.51066655e-03 2.58294976e+01] [ 1.98957759e-02 1.03219304e-04 9.99802054e-01 2.88783298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.31, Y:25.86, Z:2.89 [[ 8.82495294e-01 -4.69996589e-01 -1.74717780e-02 3.16308432e+02] [ 4.69900245e-01 8.82668211e-01 -9.51784969e-03 2.58606862e+01] [ 1.98951399e-02 1.89464817e-04 9.99802054e-01 2.88613594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.36, Y:25.89, Z:2.89 [[ 8.81810731e-01 -4.71279864e-01 -1.74677900e-02 3.16360499e+02] [ 4.71183627e-01 8.81983708e-01 -9.52516300e-03 2.58879373e+01] [ 1.98953237e-02 1.68854288e-04 9.99802054e-01 2.88965334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:25.92, Z:2.89 [[ 8.80393971e-01 -4.73921378e-01 -1.74638041e-02 3.16412039e+02] [ 4.73825514e-01 8.80567155e-01 -9.53246538e-03 2.59155582e+01] [ 1.98956914e-02 1.17529092e-04 9.99802054e-01 2.88815843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.47, Y:25.94, Z:2.89 [[ 8.76558976e-01 -4.80977668e-01 -1.74598035e-02 3.16465788e+02] [ 4.80883053e-01 8.76732845e-01 -9.53978730e-03 2.59387127e+01] [ 1.98960078e-02 -3.39374132e-05 9.99802054e-01 2.89147276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.52, Y:25.97, Z:2.89 [[ 8.75518730e-01 -4.82868770e-01 -1.74558034e-02 3.16517730e+02] [ 4.82774384e-01 8.75692724e-01 -9.54710094e-03 2.59654727e+01] [ 1.98959170e-02 -6.85490729e-05 9.99802054e-01 2.89271277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:316.57, Y:25.99, Z:2.89 [[ 8.74256199e-01 -4.85151041e-01 -1.74518047e-02 3.16570113e+02] [ 4.85056964e-01 8.74430360e-01 -9.55440488e-03 2.59912416e+01] [ 1.98957174e-02 -1.12121717e-04 9.99802054e-01 2.89287080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:26.02, Z:2.90 [[ 8.74047485e-01 -4.85527103e-01 -1.74478254e-02 3.16621805e+02] [ 4.85432956e-01 8.74221608e-01 -9.56166629e-03 2.60172596e+01] [ 1.98957141e-02 -1.12399078e-04 9.99802054e-01 2.89598482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:26.04, Z:2.90 [[ 8.75036054e-01 -4.83743338e-01 -1.74438430e-02 3.16673122e+02] [ 4.83648692e-01 8.75209905e-01 -9.56892604e-03 2.60445793e+01] [ 1.98959284e-02 -6.35365643e-05 9.99802054e-01 2.89756033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.72, Y:26.07, Z:2.90 [[ 8.76537512e-01 -4.81017507e-01 -1.74398590e-02 3.16724389e+02] [ 4.80922175e-01 8.76710989e-01 -9.57618150e-03 2.60721223e+01] [ 1.98960270e-02 6.66735740e-06 9.99802054e-01 2.89896055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.78, Y:26.10, Z:2.90 [[ 8.76694582e-01 -4.80731319e-01 -1.74358612e-02 3.16775819e+02] [ 4.80635786e-01 8.76867948e-01 -9.58345502e-03 2.61005223e+01] [ 1.98960148e-02 2.14642345e-05 9.99802054e-01 2.89939108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96232058799995 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:316.83, Y:26.13, Z:2.90 [[ 8.75772148e-01 -4.82409863e-01 -1.74318524e-02 3.16826712e+02] [ 4.82314517e-01 8.75945617e-01 -9.59074138e-03 2.61282502e+01] [ 1.98960229e-02 -8.33127542e-06 9.99802055e-01 2.89988910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02232058799996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:316.88, Y:26.16, Z:2.90 [[ 8.75574781e-01 -4.82768137e-01 -1.74278405e-02 3.16878446e+02] [ 4.82672717e-01 8.75748209e-01 -9.59802607e-03 2.61561155e+01] [ 1.98960213e-02 -8.15355120e-06 9.99802055e-01 2.90489324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:316.93, Y:26.18, Z:2.90 [[ 8.74324187e-01 -4.85029510e-01 -1.74238226e-02 3.16929779e+02] [ 4.84934394e-01 8.74497782e-01 -9.60531440e-03 2.61843683e+01] [ 1.98959552e-02 -5.12521560e-05 9.99802055e-01 2.90481023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14232058799996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:316.98, Y:26.21, Z:2.91 [[ 8.72805041e-01 -4.87758045e-01 -1.74198235e-02 3.16980678e+02] [ 4.87663326e-01 8.72978854e-01 -9.61256152e-03 2.62122243e+01] [ 1.98957418e-02 -1.05116939e-04 9.99802055e-01 2.90739517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.03, Y:26.24, Z:2.91 [[ 8.71981842e-01 -4.89228328e-01 -1.74157930e-02 3.17031909e+02] [ 4.89133757e-01 8.72155735e-01 -9.61985839e-03 2.62407913e+01] [ 1.98955910e-02 -1.30310415e-04 9.99802055e-01 2.90824889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26232058799997 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:317.08, Y:26.27, Z:2.91 [[ 8.71692265e-01 -4.89744242e-01 -1.74118166e-02 3.17083193e+02] [ 4.89649631e-01 8.71866136e-01 -9.62705027e-03 2.62688136e+01] [ 1.98955657e-02 -1.33864297e-04 9.99802055e-01 2.91004168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32232058799997 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:317.13, Y:26.30, Z:2.91 [[ 8.71495206e-01 -4.90094964e-01 -1.74078343e-02 3.17134622e+02] [ 4.90000279e-01 8.71669036e-01 -9.63424570e-03 2.62973119e+01] [ 1.98955655e-02 -1.33644729e-04 9.99802055e-01 2.91213665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.18, Y:26.33, Z:2.91 [[ 8.71734449e-01 -4.89669435e-01 -1.74038520e-02 3.17184764e+02] [ 4.89574522e-01 8.71908155e-01 -9.64143429e-03 2.63263522e+01] [ 1.98956761e-02 -1.15712087e-04 9.99802055e-01 2.91139780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.24, Y:26.35, Z:2.92 [[ 8.70941041e-01 -4.91079370e-01 -1.73998716e-02 3.17236200e+02] [ 4.90984594e-01 8.71114822e-01 -9.64861227e-03 2.63537917e+01] [ 1.98955205e-02 -1.39696500e-04 9.99802055e-01 2.91668213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502320588 meters Centerline goodness : 0.999860 with order 1 Centerline is valid? [True, True] Translation: X:317.29, Y:26.38, Z:2.92 [[ 8.69686872e-01 -4.93297199e-01 -1.73958941e-02 3.17287224e+02] [ 4.93202723e-01 8.69860816e-01 -9.65577827e-03 2.63821957e+01] [ 1.98951750e-02 -1.82198716e-04 9.99802055e-01 2.91762428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562320588 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:317.34, Y:26.41, Z:2.93 [[ 8.75064739e-01 -4.83693316e-01 -1.73919199e-02 3.17338363e+02] [ 4.83596788e-01 8.75237553e-01 -9.66293114e-03 2.64122251e+01] [ 1.98959566e-02 4.50136966e-05 9.99802055e-01 2.92880266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622320588 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:317.39, Y:26.44, Z:2.94 [[ 8.76810355e-01 -4.80521834e-01 -1.73887296e-02 3.17389817e+02] [ 4.80424568e-01 8.76982754e-01 -9.66866886e-03 2.64426728e+01] [ 1.98956225e-02 1.23616081e-04 9.99802055e-01 2.93797460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.44, Y:26.47, Z:2.93 [[ 8.66537448e-01 -4.98809179e-01 -1.73854503e-02 3.17443655e+02] [ 4.98715432e-01 8.66711786e-01 -9.67456174e-03 2.64693568e+01] [ 1.98939349e-02 -2.87022351e-04 9.99802055e-01 2.92631379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.742320588 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:317.49, Y:26.50, Z:2.94 [[ 8.75152251e-01 -4.83535307e-01 -1.73822799e-02 3.17493366e+02] [ 4.83438404e-01 8.75324855e-01 -9.68025465e-03 2.65008073e+01] [ 1.98958866e-02 6.84349642e-05 9.99802055e-01 2.94103606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.55, Y:26.53, Z:2.93 [[ 8.65180848e-01 -5.01158645e-01 -1.73813850e-02 3.17546339e+02] [ 5.01065224e-01 8.65355362e-01 -9.68186128e-03 2.65284778e+01] [ 1.98932232e-02 -3.32646627e-04 9.99802055e-01 2.92741264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.862320588 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:317.60, Y:26.56, Z:2.95 [[ 8.75000803e-01 -4.83809384e-01 -1.73802868e-02 3.17595797e+02] [ 4.83712464e-01 8.75173397e-01 -9.68383239e-03 2.65598468e+01] [ 1.98958936e-02 6.62997747e-05 9.99802055e-01 2.94534634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.922320588 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:317.65, Y:26.59, Z:2.95 [[ 8.73671419e-01 -4.86205934e-01 -1.73793598e-02 3.17648337e+02] [ 4.86109454e-01 8.73844259e-01 -9.68549575e-03 2.65890317e+01] [ 1.98959993e-02 1.36697111e-05 9.99802055e-01 2.94574493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98232058799994 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:317.70, Y:26.62, Z:2.94 [[ 8.76895235e-01 -4.80367373e-01 -1.73762447e-02 3.17698009e+02] [ 4.80269632e-01 8.77067365e-01 -9.69108110e-03 2.66220837e+01] [ 1.98954163e-02 1.52780175e-04 9.99802055e-01 2.94491903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04232058799994 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:317.75, Y:26.65, Z:2.95 [[ 8.78330256e-01 -4.77738581e-01 -1.73726736e-02 3.17748235e+02] [ 4.77640198e-01 8.78502021e-01 -9.69747868e-03 2.66527563e+01] [ 1.98947885e-02 2.19701693e-04 9.99802055e-01 2.94753945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10232058799994 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:317.80, Y:26.69, Z:2.95 [[ 8.79314246e-01 -4.75925175e-01 -1.73690687e-02 3.17797819e+02] [ 4.75826311e-01 8.79485734e-01 -9.70393108e-03 2.66855243e+01] [ 1.98941932e-02 2.68144980e-04 9.99802055e-01 2.94604183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.85, Y:26.71, Z:2.93 [[ 8.70892711e-01 -4.91166293e-01 -1.73654687e-02 3.17850961e+02] [ 4.91070301e-01 8.71065823e-01 -9.71036910e-03 2.67121169e+01] [ 1.98958723e-02 -7.09762674e-05 9.99802055e-01 2.93422005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.90, Y:26.74, Z:2.93 [[ 8.67969871e-01 -4.96313194e-01 -1.73642131e-02 3.17901276e+02] [ 4.96218184e-01 8.68143524e-01 -9.71261386e-03 2.67407628e+01] [ 1.98951275e-02 -1.86182088e-04 9.99802055e-01 2.93299475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.95, Y:26.77, Z:2.93 [[ 8.64587365e-01 -5.02182548e-01 -1.73601810e-02 3.17953265e+02] [ 5.02088573e-01 8.64761580e-01 -9.71981541e-03 2.67670638e+01] [ 1.98935392e-02 -3.12718901e-04 9.99802055e-01 2.93232393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.01, Y:26.79, Z:2.93 [[ 8.61331612e-01 -5.07746606e-01 -1.73562075e-02 3.18005823e+02] [ 5.07653613e-01 8.61506353e-01 -9.72690556e-03 2.67949252e+01] [ 1.98912863e-02 -4.32850194e-04 9.99802055e-01 2.93007850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.06, Y:26.82, Z:2.93 [[ 8.57541423e-01 -5.14122155e-01 -1.73527595e-02 3.18059043e+02] [ 5.14030336e-01 8.57716784e-01 -9.73305287e-03 2.68205216e+01] [ 1.98877312e-02 -5.73348792e-04 9.99802055e-01 2.93030585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.11, Y:26.85, Z:2.93 [[ 8.56424143e-01 -5.15981286e-01 -1.73493237e-02 3.18110986e+02] [ 5.15889725e-01 8.56599638e-01 -9.73917335e-03 2.68487278e+01] [ 1.98866556e-02 -6.09474643e-04 9.99802055e-01 2.93017611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.16, Y:26.87, Z:2.93 [[ 8.54625142e-01 -5.18955669e-01 -1.73459077e-02 3.18163670e+02] [ 5.18864595e-01 8.54800890e-01 -9.74525364e-03 2.68747685e+01] [ 1.98846520e-02 -6.71638598e-04 9.99802055e-01 2.93010918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.22, Y:26.90, Z:2.93 [[ 8.54548631e-01 -5.19081777e-01 -1.73420411e-02 3.18216084e+02] [ 5.18990589e-01 8.54724321e-01 -9.75212949e-03 2.69028259e+01] [ 1.98848170e-02 -6.66687230e-04 9.99802055e-01 2.93191666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.27, Y:26.93, Z:2.93 [[ 8.55332076e-01 -5.17789878e-01 -1.73402138e-02 3.18268287e+02] [ 5.17698359e-01 8.55507593e-01 -9.75537762e-03 2.69314533e+01] [ 1.98859203e-02 -6.32912826e-04 9.99802055e-01 2.93414363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.32, Y:26.96, Z:2.94 [[ 8.55695837e-01 -5.17188621e-01 -1.73368213e-02 3.18319476e+02] [ 5.17096857e-01 8.55871226e-01 -9.76140283e-03 2.69608684e+01] [ 1.98865730e-02 -6.12024041e-04 9.99802055e-01 2.93531400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.37, Y:26.99, Z:2.94 [[ 8.54462707e-01 -5.19223494e-01 -1.73333454e-02 3.18371849e+02] [ 5.19132022e-01 8.54638250e-01 -9.76757114e-03 2.69893903e+01] [ 1.98852924e-02 -6.52269365e-04 9.99802055e-01 2.93675191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.42, Y:27.02, Z:2.94 [[ 8.54310142e-01 -5.19474587e-01 -1.73301699e-02 3.18423645e+02] [ 5.19383053e-01 8.54485651e-01 -9.77320204e-03 2.70179623e+01] [ 1.98853116e-02 -6.51650937e-04 9.99802055e-01 2.93752200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.47, Y:27.05, Z:2.94 [[ 8.53234971e-01 -5.21238782e-01 -1.73267594e-02 3.18474300e+02] [ 5.21147488e-01 8.53410606e-01 -9.77924477e-03 2.70480730e+01] [ 1.98841618e-02 -6.85803502e-04 9.99802055e-01 2.93543735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.53, Y:27.08, Z:2.94 [[ 8.53256692e-01 -5.21203338e-01 -1.73233618e-02 3.18525905e+02] [ 5.21111915e-01 8.53432259e-01 -9.78525964e-03 2.70757700e+01] [ 1.98844258e-02 -6.78071979e-04 9.99802055e-01 2.93850687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.58, Y:27.10, Z:2.94 [[ 8.52462551e-01 -5.22501326e-01 -1.73194794e-02 3.18576500e+02] [ 5.22410031e-01 8.52638185e-01 -9.79212655e-03 2.71049421e+01] [ 1.98836486e-02 -7.00448588e-04 9.99802055e-01 2.93930671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.63, Y:27.13, Z:2.94 [[ 8.52225205e-01 -5.22888398e-01 -1.73182674e-02 3.18626933e+02] [ 5.22797139e-01 8.52400858e-01 -9.79426951e-03 2.71336259e+01] [ 1.98834159e-02 -7.07017334e-04 9.99802055e-01 2.94012607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.68, Y:27.16, Z:2.94 [[ 8.51823685e-01 -5.23542378e-01 -1.73143741e-02 3.18677882e+02] [ 5.23451115e-01 8.51999336e-01 -9.80114741e-03 2.71612883e+01] [ 1.98831512e-02 -7.14378898e-04 9.99802055e-01 2.94060604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.73, Y:27.19, Z:2.94 [[ 8.51625108e-01 -5.23865463e-01 -1.73104515e-02 3.18729042e+02] [ 5.23774125e-01 8.51800720e-01 -9.80807035e-03 2.71891833e+01] [ 1.98831644e-02 -7.13967641e-04 9.99802055e-01 2.94328927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.78, Y:27.22, Z:2.94 [[ 8.50866657e-01 -5.25096577e-01 -1.73065540e-02 3.18779868e+02] [ 5.25005355e-01 8.51042328e-01 -9.81494276e-03 2.72187002e+01] [ 1.98824029e-02 -7.34826007e-04 9.99802055e-01 2.94279289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.83, Y:27.25, Z:2.95 [[ 8.51201465e-01 -5.24553778e-01 -1.73031772e-02 3.18832464e+02] [ 5.24462323e-01 8.51377015e-01 -9.82089241e-03 2.72457528e+01] [ 1.98831135e-02 -7.15306484e-04 9.99802055e-01 2.94663241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.88, Y:27.28, Z:2.95 [[ 8.51045255e-01 -5.24807290e-01 -1.72997748e-02 3.18883103e+02] [ 5.24715765e-01 8.51220769e-01 -9.82688203e-03 2.72761578e+01] [ 1.98831470e-02 -7.14343269e-04 9.99802055e-01 2.94691069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.93, Y:27.30, Z:2.95 [[ 8.51380286e-01 -5.24263716e-01 -1.72963651e-02 3.18934976e+02] [ 5.24171957e-01 8.51555678e-01 -9.83287992e-03 2.73035945e+01] [ 1.98838401e-02 -6.94749416e-04 9.99802056e-01 2.94790130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.99, Y:27.33, Z:2.95 [[ 8.51130510e-01 -5.24669237e-01 -1.72929522e-02 3.18986534e+02] [ 5.24577440e-01 8.51305883e-01 -9.83887851e-03 2.73317450e+01] [ 1.98837488e-02 -6.97322886e-04 9.99802056e-01 2.95124577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.04, Y:27.36, Z:2.95 [[ 8.50744138e-01 -5.25295631e-01 -1.72890370e-02 3.19038309e+02] [ 5.25203824e-01 8.50919505e-01 -9.84575351e-03 2.73609840e+01] [ 1.98835101e-02 -7.04051260e-04 9.99802056e-01 2.95185384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.09, Y:27.39, Z:2.95 [[ 8.51846434e-01 -5.23506313e-01 -1.72856218e-02 3.19088788e+02] [ 5.23414016e-01 8.52021544e-01 -9.85174580e-03 2.73900574e+01] [ 1.98851732e-02 -6.55362171e-04 9.99802056e-01 2.95166284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.14, Y:27.42, Z:2.95 [[ 8.52158035e-01 -5.22999069e-01 -1.72817103e-02 3.19139450e+02] [ 5.22906529e-01 8.52333016e-01 -9.85860249e-03 2.74183691e+01] [ 1.98858121e-02 -6.35631792e-04 9.99802056e-01 2.95311478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.19, Y:27.45, Z:2.95 [[ 8.52313545e-01 -5.22745733e-01 -1.72777218e-02 3.19190995e+02] [ 5.22652999e-01 8.52488424e-01 -9.86558748e-03 2.74461077e+01] [ 1.98862516e-02 -6.21679302e-04 9.99802056e-01 2.95491798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.24, Y:27.48, Z:2.95 [[ 8.52482451e-01 -5.22470371e-01 -1.72737749e-02 3.19241045e+02] [ 5.22377441e-01 8.52657225e-01 -9.87249333e-03 2.74755824e+01] [ 1.98866942e-02 -6.07303026e-04 9.99802056e-01 2.95344255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.29, Y:27.50, Z:2.96 [[ 8.53405325e-01 -5.20961711e-01 -1.72698239e-02 3.19292135e+02] [ 5.20868333e-01 8.53579860e-01 -9.87940003e-03 2.75035831e+01] [ 1.98879630e-02 -5.64171773e-04 9.99802056e-01 2.95537156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.34, Y:27.53, Z:2.96 [[ 8.54232495e-01 -5.19604403e-01 -1.72658591e-02 3.19343638e+02] [ 5.19510607e-01 8.54406806e-01 -9.88632432e-03 2.75331734e+01] [ 1.98890451e-02 -5.24577446e-04 9.99802056e-01 2.95725119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.39, Y:27.56, Z:2.96 [[ 8.55046146e-01 -5.18264506e-01 -1.72623859e-02 3.19394517e+02] [ 5.18170315e-01 8.55220244e-01 -9.89238500e-03 2.75627524e+01] [ 1.98900139e-02 -4.86410283e-04 9.99802056e-01 2.95637875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.45, Y:27.59, Z:2.96 [[ 8.55473713e-01 -5.17558563e-01 -1.72586561e-02 3.19445832e+02] [ 5.17464097e-01 8.55647661e-01 -9.89888794e-03 2.75914536e+01] [ 1.98905829e-02 -4.62496479e-04 9.99802056e-01 2.95780131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.50, Y:27.62, Z:2.96 [[ 8.56150949e-01 -5.16437616e-01 -1.72551517e-02 3.19496217e+02] [ 5.16342800e-01 8.56324707e-01 -9.90499286e-03 2.76210703e+01] [ 1.98913236e-02 -4.29404292e-04 9.99802056e-01 2.96085189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.55, Y:27.65, Z:2.96 [[ 8.55135874e-01 -5.18116815e-01 -1.72511585e-02 3.19547082e+02] [ 5.18022200e-01 8.55309742e-01 -9.91194274e-03 2.76492193e+01] [ 1.98906281e-02 -4.60425262e-04 9.99802056e-01 2.96012366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.60, Y:27.68, Z:2.96 [[ 8.54268960e-01 -5.19545069e-01 -1.72471625e-02 3.19598471e+02] [ 5.19450604e-01 8.54442909e-01 -9.91889100e-03 2.76760045e+01] [ 1.98900267e-02 -4.85648310e-04 9.99802056e-01 2.96241319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.65, Y:27.71, Z:2.96 [[ 8.54407612e-01 -5.19317154e-01 -1.72431547e-02 3.19648594e+02] [ 5.19222502e-01 8.54581459e-01 -9.92585349e-03 2.77052436e+01] [ 1.98903463e-02 -4.72309130e-04 9.99802056e-01 2.96199776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.70, Y:27.74, Z:2.96 [[ 8.54741380e-01 -5.18767755e-01 -1.72391622e-02 3.19698607e+02] [ 5.18672852e-01 8.54915091e-01 -9.93278277e-03 2.77352894e+01] [ 1.98908273e-02 -4.51524963e-04 9.99802056e-01 2.96160289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.75, Y:27.76, Z:2.96 [[ 8.53844917e-01 -5.20242066e-01 -1.72351438e-02 3.19749851e+02] [ 5.20147322e-01 8.54018715e-01 -9.93975054e-03 2.77628638e+01] [ 1.98902117e-02 -4.77808395e-04 9.99802056e-01 2.96365324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.80, Y:27.79, Z:2.97 [[ 8.53842574e-01 -5.20246044e-01 -1.72311366e-02 3.19800836e+02] [ 5.20151161e-01 8.54016296e-01 -9.94669235e-03 2.77925265e+01] [ 1.98903988e-02 -4.69886308e-04 9.99802056e-01 2.96601915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.85, Y:27.82, Z:2.97 [[ 8.52873500e-01 -5.21833310e-01 -1.72276130e-02 3.19851832e+02] [ 5.21738627e-01 8.53047330e-01 -9.95279143e-03 2.78217706e+01] [ 1.98896674e-02 -4.99839109e-04 9.99802056e-01 2.96549804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.90, Y:27.85, Z:2.96 [[ 8.50439729e-01 -5.25790451e-01 -1.72241020e-02 3.19901892e+02] [ 5.25696454e-01 8.50613931e-01 -9.95886386e-03 2.78514702e+01] [ 1.98873366e-02 -5.85235856e-04 9.99802056e-01 2.96445232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.95, Y:27.88, Z:2.97 [[ 8.49443979e-01 -5.27397757e-01 -1.72201295e-02 3.19952864e+02] [ 5.27303951e-01 8.49618284e-01 -9.96572798e-03 2.78792368e+01] [ 1.98864395e-02 -6.14914713e-04 9.99802056e-01 2.96895697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.00, Y:27.91, Z:2.97 [[ 8.49379807e-01 -5.27501230e-01 -1.72161412e-02 3.20002367e+02] [ 5.27407306e-01 8.49554048e-01 -9.97261320e-03 2.79104941e+01] [ 1.98866082e-02 -6.09382373e-04 9.99802056e-01 2.96859250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.05, Y:27.94, Z:2.97 [[ 8.48047149e-01 -5.29641107e-01 -1.72142883e-02 3.20052999e+02] [ 5.29547557e-01 8.48221591e-01 -9.97581054e-03 2.79399662e+01] [ 1.98851304e-02 -6.55826655e-04 9.99802056e-01 2.97002580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:27.97, Z:2.97 [[ 8.46395164e-01 -5.32277213e-01 -1.72103078e-02 3.20105290e+02] [ 5.32184067e-01 8.46569823e-01 -9.98267313e-03 2.79680689e+01] [ 1.98832766e-02 -7.09765318e-04 9.99802056e-01 2.97104271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.16, Y:28.00, Z:2.97 [[ 8.46484067e-01 -5.32135931e-01 -1.72068297e-02 3.20155870e+02] [ 5.32042635e-01 8.46658645e-01 -9.98866452e-03 2.79979082e+01] [ 1.98836384e-02 -6.99521647e-04 9.99802056e-01 2.97211708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.21, Y:28.03, Z:2.97 [[ 8.46718157e-01 -5.31763504e-01 -1.72028364e-02 3.20206817e+02] [ 5.31669992e-01 8.46892620e-01 -9.99553722e-03 2.80276891e+01] [ 1.98842171e-02 -6.82829030e-04 9.99802056e-01 2.97399921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.26, Y:28.06, Z:2.98 [[ 8.47316116e-01 -5.30810306e-01 -1.71993616e-02 3.20258639e+02] [ 5.30716476e-01 8.47490408e-01 -1.00015128e-02 2.80565817e+01] [ 1.98852000e-02 -6.53541601e-04 9.99802056e-01 2.97540887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.31, Y:28.09, Z:2.98 [[ 8.47358672e-01 -5.30742483e-01 -1.71958814e-02 3.20309732e+02] [ 5.30648518e-01 8.47532891e-01 -1.00074928e-02 2.80860056e+01] [ 1.98854766e-02 -6.45033114e-04 9.99802056e-01 2.97537569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.36, Y:28.12, Z:2.98 [[ 8.47977752e-01 -5.29752918e-01 -1.71924046e-02 3.20360055e+02] [ 5.29658628e-01 8.48151795e-01 -1.00134622e-02 2.81164758e+01] [ 1.98864297e-02 -6.14912227e-04 9.99802056e-01 2.97570356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.41, Y:28.14, Z:2.98 [[ 8.47383859e-01 -5.30702494e-01 -1.71889047e-02 3.20411949e+02] [ 5.30608278e-01 8.47557942e-01 -1.00194664e-02 2.81444680e+01] [ 1.98859485e-02 -6.30241008e-04 9.99802056e-01 2.97670986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.46, Y:28.17, Z:2.98 [[ 8.47831925e-01 -5.29986499e-01 -1.71854083e-02 3.20464159e+02] [ 5.29892014e-01 8.48005863e-01 -1.00254599e-02 2.81732468e+01] [ 1.98866854e-02 -6.06505696e-04 9.99802056e-01 2.97715240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.51, Y:28.20, Z:2.98 [[ 8.49112377e-01 -5.27932718e-01 -1.71818920e-02 3.20514637e+02] [ 5.27837691e-01 8.49286019e-01 -1.00314827e-02 2.82039637e+01] [ 1.98882885e-02 -5.51394092e-04 9.99802056e-01 2.97637976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.57, Y:28.23, Z:2.98 [[ 8.50159267e-01 -5.26245308e-01 -1.71783611e-02 3.20566215e+02] [ 5.26149814e-01 8.50332653e-01 -1.00375254e-02 2.82323246e+01] [ 1.98895220e-02 -5.04896247e-04 9.99802056e-01 2.97721361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.62, Y:28.26, Z:2.98 [[ 8.53129228e-01 -5.21416864e-01 -1.71748179e-02 3.20616115e+02] [ 5.21320267e-01 8.53302001e-01 -1.00435843e-02 2.82627053e+01] [ 1.98922008e-02 -3.85105318e-04 9.99802056e-01 2.98050024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.67, Y:28.29, Z:2.98 [[ 8.54215075e-01 -5.19636099e-01 -1.71735428e-02 3.20665052e+02] [ 5.19539098e-01 8.54387622e-01 -1.00457642e-02 2.82937507e+01] [ 1.98930041e-02 -3.41083678e-04 9.99802056e-01 2.98038352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.72, Y:28.32, Z:2.98 [[ 8.53930500e-01 -5.20103749e-01 -1.71694680e-02 3.20716807e+02] [ 5.20006703e-01 8.54103022e-01 -1.00527238e-02 2.83224045e+01] [ 1.98929538e-02 -3.43910957e-04 9.99802056e-01 2.98169282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.77, Y:28.35, Z:2.98 [[ 8.53340379e-01 -5.21071521e-01 -1.71658861e-02 3.20767157e+02] [ 5.20974548e-01 8.53512941e-01 -1.00588365e-02 2.83517509e+01] [ 1.98926791e-02 -3.59378430e-04 9.99802056e-01 2.98228695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.82, Y:28.38, Z:2.98 [[ 8.52203800e-01 -5.22928443e-01 -1.71618010e-02 3.20818693e+02] [ 5.22831705e-01 8.52376494e-01 -1.00658015e-02 2.83814434e+01] [ 1.98920096e-02 -3.94619404e-04 9.99802057e-01 2.98366575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.87, Y:28.41, Z:2.98 [[ 8.53008119e-01 -5.21615514e-01 -1.71582191e-02 3.20868291e+02] [ 5.21518387e-01 8.53180596e-01 -1.00719035e-02 2.84119835e+01] [ 1.98927207e-02 -3.56911327e-04 9.99802057e-01 2.98371841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.92, Y:28.44, Z:2.98 [[ 8.52688989e-01 -5.22137170e-01 -1.71541380e-02 3.20918473e+02] [ 5.22040009e-01 8.52861446e-01 -1.00788494e-02 2.84419026e+01] [ 1.98926449e-02 -3.61022443e-04 9.99802057e-01 2.98424972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.97, Y:28.47, Z:2.99 [[ 8.51067480e-01 -5.24776161e-01 -1.71500498e-02 3.20969870e+02] [ 5.24679396e-01 8.51240159e-01 -1.00858011e-02 2.84707552e+01] [ 1.98915991e-02 -4.14580398e-04 9.99802057e-01 2.98607501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.02, Y:28.50, Z:2.99 [[ 8.50407817e-01 -5.25844600e-01 -1.71464421e-02 3.21019557e+02] [ 5.25747928e-01 8.50580548e-01 -1.00919307e-02 2.85008993e+01] [ 1.98912174e-02 -4.32449672e-04 9.99802057e-01 2.98635103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.07, Y:28.53, Z:2.99 [[ 8.49638933e-01 -5.27086163e-01 -1.71423687e-02 3.21070241e+02] [ 5.26989604e-01 8.49811727e-01 -1.00988451e-02 2.85300404e+01] [ 1.98907475e-02 -4.53478061e-04 9.99802057e-01 2.98711433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.12, Y:28.56, Z:2.99 [[ 8.48309930e-01 -5.29222581e-01 -1.71383003e-02 3.21120099e+02] [ 5.29126318e-01 8.48482890e-01 -1.01057447e-02 2.85595674e+01] [ 1.98897428e-02 -4.95522144e-04 9.99802057e-01 2.98706771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.17, Y:28.59, Z:2.99 [[ 8.48165535e-01 -5.29454100e-01 -1.71342120e-02 3.21171708e+02] [ 5.29357744e-01 8.48338442e-01 -1.01126717e-02 2.85890228e+01] [ 1.98898062e-02 -4.92908226e-04 9.99802057e-01 2.98921986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:321.22, Y:28.62, Z:2.99 [[ 8.47350304e-01 -5.30757951e-01 -1.71306549e-02 3.21222802e+02] [ 5.30661739e-01 8.47523292e-01 -1.01186937e-02 2.86194071e+01] [ 1.98892062e-02 -5.16504889e-04 9.99802057e-01 2.99063293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.27, Y:28.65, Z:2.99 [[ 8.47198463e-01 -5.31000401e-01 -1.71271036e-02 3.21274247e+02] [ 5.30904117e-01 8.47371411e-01 -1.01247011e-02 2.86492427e+01] [ 1.98892383e-02 -5.15218575e-04 9.99802057e-01 2.99165612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.32, Y:28.68, Z:2.99 [[ 8.46433011e-01 -5.32219825e-01 -1.71235491e-02 3.21324710e+02] [ 5.32123669e-01 8.46606030e-01 -1.01307092e-02 2.86802962e+01] [ 1.98886642e-02 -5.36879079e-04 9.99802057e-01 2.99357159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.38, Y:28.71, Z:2.99 [[ 8.44097264e-01 -5.35916704e-01 -1.71200004e-02 3.21375646e+02] [ 5.35821185e-01 8.44270635e-01 -1.01367026e-02 2.87100988e+01] [ 1.98863419e-02 -6.16895939e-04 9.99802057e-01 2.99475390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.43, Y:28.74, Z:2.99 [[ 8.42960782e-01 -5.37702656e-01 -1.71164575e-02 3.21426356e+02] [ 5.37607382e-01 8.43134288e-01 -1.01426815e-02 2.87403195e+01] [ 1.98852190e-02 -6.52051172e-04 9.99802057e-01 2.99489647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.48, Y:28.77, Z:3.00 [[ 8.41837202e-01 -5.39460169e-01 -1.71129304e-02 3.21477241e+02] [ 5.39365136e-01 8.42010840e-01 -1.01486289e-02 2.87706277e+01] [ 1.98840540e-02 -6.86624712e-04 9.99802057e-01 2.99602644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.53, Y:28.80, Z:3.00 [[ 8.41081020e-01 -5.40638498e-01 -1.71094169e-02 3.21527808e+02] [ 5.40543589e-01 8.41254726e-01 -1.01545489e-02 2.88008795e+01] [ 1.98833179e-02 -7.07587245e-04 9.99802057e-01 2.99695844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54232058799994 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:321.58, Y:28.83, Z:3.00 [[ 8.40676553e-01 -5.41267330e-01 -1.71058835e-02 3.21578779e+02] [ 5.41172430e-01 8.40850263e-01 -1.01604977e-02 2.88310406e+01] [ 1.98830321e-02 -7.15540355e-04 9.99802057e-01 2.99659007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.63, Y:28.86, Z:3.00 [[ 8.39875007e-01 -5.42510351e-01 -1.71023724e-02 3.21630458e+02] [ 5.42415588e-01 8.40048793e-01 -1.01664041e-02 2.88605827e+01] [ 1.98822068e-02 -7.38084672e-04 9.99802057e-01 2.99894295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.68, Y:28.89, Z:3.00 [[ 8.39767276e-01 -5.42677207e-01 -1.70988582e-02 3.21681341e+02] [ 5.42582359e-01 8.39941015e-01 -1.01723112e-02 2.88917188e+01] [ 1.98823137e-02 -7.35164808e-04 9.99802057e-01 2.99805862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.73, Y:28.92, Z:3.00 [[ 8.39432323e-01 -5.43195283e-01 -1.70955958e-02 3.21732398e+02] [ 5.43100431e-01 8.39606059e-01 -1.01777910e-02 2.89213736e+01] [ 1.98820939e-02 -7.41058739e-04 9.99802057e-01 3.00012661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.78, Y:28.95, Z:3.00 [[ 8.39428309e-01 -5.43201598e-01 -1.70920610e-02 3.21782905e+02] [ 5.43106626e-01 8.39601980e-01 -1.01837237e-02 2.89508972e+01] [ 1.98823433e-02 -7.34305651e-04 9.99802057e-01 3.00115089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.83, Y:28.98, Z:3.00 [[ 8.39024119e-01 -5.43825756e-01 -1.70901902e-02 3.21834109e+02] [ 5.43730849e-01 8.39197826e-01 -1.01868624e-02 2.89806317e+01] [ 1.98819286e-02 -7.45440423e-04 9.99802057e-01 3.00218738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.88, Y:29.01, Z:3.00 [[ 8.39794356e-01 -5.42635684e-01 -1.70866701e-02 3.21883696e+02] [ 5.42540411e-01 8.39967863e-01 -1.01927634e-02 2.90104587e+01] [ 1.98832108e-02 -7.10383856e-04 9.99802057e-01 3.00259848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.93, Y:29.04, Z:3.00 [[ 8.39577230e-01 -5.42971693e-01 -1.70826400e-02 3.21933967e+02] [ 5.42876352e-01 8.39750699e-01 -1.01995131e-02 2.90395032e+01] [ 1.98832058e-02 -7.10482280e-04 9.99802057e-01 3.00237970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.98, Y:29.07, Z:3.00 [[ 8.39888885e-01 -5.42489615e-01 -1.70786024e-02 3.21984020e+02] [ 5.42394038e-01 8.40062224e-01 -1.02062694e-02 2.90704014e+01] [ 1.98838839e-02 -6.91199863e-04 9.99802057e-01 3.00249083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.04, Y:29.10, Z:3.00 [[ 8.39416692e-01 -5.43220085e-01 -1.70750341e-02 3.22035305e+02] [ 5.43124537e-01 8.39590047e-01 -1.02122357e-02 2.91001729e+01] [ 1.98835202e-02 -7.01548839e-04 9.99802057e-01 3.00456250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.09, Y:29.13, Z:3.00 [[ 8.39227326e-01 -5.43512704e-01 -1.70714918e-02 3.22085057e+02] [ 5.43417096e-01 8.39400649e-01 -1.02181538e-02 2.91330523e+01] [ 1.98835177e-02 -7.01586623e-04 9.99802057e-01 3.00160824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.14, Y:29.16, Z:3.00 [[ 8.38537763e-01 -5.44576080e-01 -1.70679193e-02 3.22136786e+02] [ 5.44480571e-01 8.38711139e-01 -1.02241176e-02 2.91616938e+01] [ 1.98828639e-02 -7.19841763e-04 9.99802057e-01 3.00277338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.19, Y:29.19, Z:3.00 [[ 8.37094303e-01 -5.46792407e-01 -1.70643436e-02 3.22187441e+02] [ 5.46697236e-01 8.37267865e-01 -1.02300820e-02 2.91921439e+01] [ 1.98811577e-02 -7.65486115e-04 9.99802057e-01 3.00338449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.24, Y:29.22, Z:3.00 [[ 8.36360124e-01 -5.47914841e-01 -1.70608097e-02 3.22238655e+02] [ 5.47819782e-01 8.36533748e-01 -1.02359723e-02 2.92210551e+01] [ 1.98803842e-02 -7.85290012e-04 9.99802057e-01 3.00425248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.29, Y:29.25, Z:3.01 [[ 8.37552836e-01 -5.46090007e-01 -1.70572837e-02 3.22288907e+02] [ 5.45994451e-01 8.37726187e-01 -1.02418447e-02 2.92498278e+01] [ 1.98823022e-02 -7.35096191e-04 9.99802057e-01 3.00523591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.34, Y:29.28, Z:3.01 [[ 8.38132694e-01 -5.45199756e-01 -1.70532598e-02 3.22340777e+02] [ 5.45103880e-01 8.38305868e-01 -1.02485403e-02 2.92789384e+01] [ 1.98833494e-02 -7.06161346e-04 9.99802057e-01 3.00721846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.39, Y:29.31, Z:3.01 [[ 8.38610901e-01 -5.44464015e-01 -1.70496982e-02 3.22391235e+02] [ 5.44367867e-01 8.38783924e-01 -1.02544620e-02 2.93093011e+01] [ 1.98841983e-02 -6.81804182e-04 9.99802057e-01 3.00739120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.44, Y:29.34, Z:3.01 [[ 8.39639702e-01 -5.42876228e-01 -1.70461368e-02 3.22441905e+02] [ 5.42779633e-01 8.39812476e-01 -1.02603788e-02 2.93381867e+01] [ 1.98856741e-02 -6.37274464e-04 9.99802057e-01 3.00867546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.49, Y:29.37, Z:3.01 [[ 8.40476531e-01 -5.41579882e-01 -1.70420660e-02 3.22492918e+02] [ 5.41482883e-01 8.40649078e-01 -1.02671357e-02 2.93689408e+01] [ 1.98868712e-02 -5.98700436e-04 9.99802057e-01 3.00974011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.54, Y:29.40, Z:3.01 [[ 8.42118158e-01 -5.39023838e-01 -1.70384889e-02 3.22544839e+02] [ 5.38926196e-01 8.42290342e-01 -1.02730685e-02 2.93966306e+01] [ 1.98887835e-02 -5.31350509e-04 9.99802057e-01 3.01122261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.60, Y:29.43, Z:3.01 [[ 8.42459733e-01 -5.38489936e-01 -1.70348650e-02 3.22595298e+02] [ 5.38392063e-01 8.42631786e-01 -1.02790742e-02 2.94280727e+01] [ 1.98892967e-02 -5.11730000e-04 9.99802057e-01 3.01082653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.65, Y:29.46, Z:3.01 [[ 8.43299856e-01 -5.37173425e-01 -1.70312494e-02 3.22646359e+02] [ 5.37075163e-01 8.43471687e-01 -1.02850613e-02 2.94588893e+01] [ 1.98902383e-02 -4.73670312e-04 9.99802057e-01 3.01076875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.70, Y:29.49, Z:3.01 [[ 8.43514288e-01 -5.36836751e-01 -1.70279014e-02 3.22696497e+02] [ 5.36738308e-01 8.43686015e-01 -1.02906013e-02 2.94889816e+01] [ 1.98905753e-02 -4.59257746e-04 9.99802057e-01 3.01280093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.75, Y:29.52, Z:3.02 [[ 8.42568605e-01 -5.38319921e-01 -1.70237449e-02 3.22748059e+02] [ 5.38221642e-01 8.42740426e-01 -1.02974728e-02 2.95171614e+01] [ 1.98899328e-02 -4.86220654e-04 9.99802057e-01 3.01513633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.80, Y:29.55, Z:3.01 [[ 8.41775066e-01 -5.39560056e-01 -1.70201054e-02 3.22796514e+02] [ 5.39461908e-01 8.41946962e-01 -1.03034849e-02 2.95492597e+01] [ 1.98893749e-02 -5.08481861e-04 9.99802058e-01 3.01331745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.85, Y:29.58, Z:3.02 [[ 8.40115509e-01 -5.42140561e-01 -1.70159741e-02 3.22848384e+02] [ 5.42042804e-01 8.40287627e-01 -1.03103031e-02 2.95773413e+01] [ 1.98879460e-02 -5.61540810e-04 9.99802058e-01 3.01580394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.90, Y:29.61, Z:3.01 [[ 8.39880487e-01 -5.42504697e-01 -1.70123637e-02 3.22898167e+02] [ 5.42406894e-01 8.40052580e-01 -1.03162569e-02 2.96097472e+01] [ 1.98878979e-02 -5.63200440e-04 9.99802058e-01 3.01422414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.95, Y:29.64, Z:3.02 [[ 8.39318797e-01 -5.43373408e-01 -1.70087489e-02 3.22949121e+02] [ 5.43275662e-01 8.39490921e-01 -1.03222133e-02 2.96389728e+01] [ 1.98875065e-02 -5.76811670e-04 9.99802058e-01 3.01534223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.00, Y:29.67, Z:3.01 [[ 8.38666616e-01 -5.44379585e-01 -1.70051343e-02 3.22998946e+02] [ 5.44281925e-01 8.38838790e-01 -1.03281646e-02 2.96703812e+01] [ 1.98870083e-02 -5.93700356e-04 9.99802058e-01 3.01488801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.05, Y:29.70, Z:3.01 [[ 8.38713936e-01 -5.44306790e-01 -1.70015246e-02 3.23048635e+02] [ 5.44208995e-01 8.38886033e-01 -1.03341034e-02 2.97019022e+01] [ 1.98872641e-02 -5.85026066e-04 9.99802058e-01 3.01383964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.10, Y:29.73, Z:3.02 [[ 8.39577334e-01 -5.42974207e-01 -1.69973695e-02 3.23098761e+02] [ 5.42876001e-01 8.39749196e-01 -1.03409331e-02 2.97332060e+01] [ 1.98883873e-02 -5.45450952e-04 9.99802058e-01 3.01517260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.15, Y:29.76, Z:3.02 [[ 8.38699805e-01 -5.44328806e-01 -1.69937610e-02 3.23148254e+02] [ 5.44230758e-01 8.38871757e-01 -1.03468597e-02 2.97647496e+01] [ 1.98876799e-02 -5.70618240e-04 9.99802058e-01 3.01702198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.20, Y:29.80, Z:3.02 [[ 8.38176633e-01 -5.45134191e-01 -1.69895928e-02 3.23197357e+02] [ 5.45036169e-01 8.38348600e-01 -1.03536994e-02 2.97969736e+01] [ 1.98873569e-02 -5.81713716e-04 9.99802058e-01 3.01715072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.25, Y:29.83, Z:3.02 [[ 8.36116656e-01 -5.48288623e-01 -1.69859901e-02 3.23247823e+02] [ 5.48191130e-01 8.36288924e-01 -1.03596064e-02 2.98261573e+01] [ 1.98852498e-02 -6.49729642e-04 9.99802058e-01 3.01719745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.30, Y:29.86, Z:3.02 [[ 8.33575584e-01 -5.52144331e-01 -1.69818537e-02 3.23297342e+02] [ 5.52047496e-01 8.33748223e-01 -1.03663826e-02 2.98564917e+01] [ 1.98823297e-02 -7.33626332e-04 9.99802058e-01 3.01676276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64232058799996 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:323.35, Y:29.89, Z:3.02 [[ 8.32543949e-01 -5.53698771e-01 -1.69777578e-02 3.23347810e+02] [ 5.53602123e-01 8.32716692e-01 -1.03730864e-02 2.98855470e+01] [ 1.98812275e-02 -7.62872488e-04 9.99802058e-01 3.01968958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.40, Y:29.92, Z:3.02 [[ 8.29507243e-01 -5.58237967e-01 -1.69736719e-02 3.23397957e+02] [ 5.58142127e-01 8.29680436e-01 -1.03797679e-02 2.99150589e+01] [ 1.98771041e-02 -8.63628705e-04 9.99802058e-01 3.01972572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.45, Y:29.95, Z:3.02 [[ 8.28973608e-01 -5.59030224e-01 -1.69695680e-02 3.23447965e+02] [ 5.58934412e-01 8.29146817e-01 -1.03864730e-02 2.99465623e+01] [ 1.98766156e-02 -8.74763494e-04 9.99802058e-01 3.02051141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82232058799997 meters Centerline goodness : 0.999906 with order 1 Centerline is valid? [True, True] Translation: X:323.50, Y:29.98, Z:3.02 [[ 8.28156548e-01 -5.60240026e-01 -1.69659935e-02 3.23498318e+02] [ 5.60144349e-01 8.28329831e-01 -1.03923085e-02 2.99769208e+01] [ 1.98756257e-02 -8.96947019e-04 9.99802058e-01 3.02134949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88232058799997 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:323.55, Y:30.01, Z:3.02 [[ 8.27856312e-01 -5.60683692e-01 -1.69624415e-02 3.23548847e+02] [ 5.60587989e-01 8.28029581e-01 -1.03981029e-02 3.00077449e+01] [ 1.98754500e-02 -9.00805824e-04 9.99802058e-01 3.02331845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942320588 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:323.60, Y:30.04, Z:3.02 [[ 8.27818496e-01 -5.60739630e-01 -1.69589084e-02 3.23599828e+02] [ 5.60643821e-01 8.27991706e-01 -1.04038621e-02 3.00380320e+01] [ 1.98756933e-02 -8.95397674e-04 9.99802058e-01 3.02268135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.65, Y:30.07, Z:3.02 [[ 8.28686521e-01 -5.59456134e-01 -1.69553590e-02 3.23649861e+02] [ 5.59359939e-01 8.28859517e-01 -1.04096433e-02 3.00689365e+01] [ 1.98773495e-02 -8.57817462e-04 9.99802058e-01 3.02298996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.70, Y:30.10, Z:3.03 [[ 8.30292544e-01 -5.57069948e-01 -1.69517967e-02 3.23699838e+02] [ 5.56973138e-01 8.30465197e-01 -1.04154413e-02 3.00991726e+01] [ 1.98800065e-02 -7.93832090e-04 9.99802058e-01 3.02600172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.75, Y:30.13, Z:3.03 [[ 8.30881186e-01 -5.56191635e-01 -1.69505213e-02 3.23750589e+02] [ 5.56094600e-01 8.31053712e-01 -1.04175165e-02 3.01301398e+01] [ 1.98809292e-02 -7.70374940e-04 9.99802058e-01 3.02582371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.80, Y:30.16, Z:3.03 [[ 8.31425984e-01 -5.55377020e-01 -1.69469204e-02 3.23800846e+02] [ 5.55279697e-01 8.31598348e-01 -1.04233710e-02 3.01613139e+01] [ 1.98819317e-02 -7.44019317e-04 9.99802058e-01 3.02677659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.85, Y:30.19, Z:3.03 [[ 8.31637411e-01 -5.55060484e-01 -1.69433197e-02 3.23852178e+02] [ 5.54962976e-01 8.31809670e-01 -1.04292207e-02 3.01916280e+01] [ 1.98824655e-02 -7.29585044e-04 9.99802058e-01 3.02752601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.90, Y:30.22, Z:3.03 [[ 8.33051145e-01 -5.52936558e-01 -1.69396793e-02 3.23902774e+02] [ 5.52838490e-01 8.33223086e-01 -1.04351303e-02 3.02222993e+01] [ 1.98844969e-02 -6.71909502e-04 9.99802058e-01 3.02953883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.95, Y:30.25, Z:3.04 [[ 8.41267782e-01 -5.40353301e-01 -1.69360089e-02 3.23953197e+02] [ 5.40252541e-01 8.41438159e-01 -1.04410839e-02 3.02541186e+01] [ 1.98924783e-02 -3.65974290e-04 9.99802058e-01 3.04393620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.01, Y:30.28, Z:3.03 [[ 8.34126457e-01 -5.51313281e-01 -1.69327865e-02 3.24005060e+02] [ 5.51214653e-01 8.34298077e-01 -1.04463072e-02 3.02841688e+01] [ 1.98861791e-02 -6.20058792e-04 9.99802058e-01 3.02953866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.06, Y:30.31, Z:3.03 [[ 8.35482646e-01 -5.49255993e-01 -1.69293051e-02 3.24055011e+02] [ 5.49156828e-01 8.35653957e-01 -1.04519462e-02 3.03134480e+01] [ 1.98878348e-02 -5.64423846e-04 9.99802058e-01 3.03213241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.11, Y:30.34, Z:3.03 [[ 8.36518952e-01 -5.47676531e-01 -1.69251173e-02 3.24105367e+02] [ 5.47576905e-01 8.36689995e-01 -1.04587232e-02 3.03447715e+01] [ 1.98890735e-02 -5.18883174e-04 9.99802058e-01 3.03286170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.15, Y:30.38, Z:3.03 [[ 8.38297824e-01 -5.44949927e-01 -1.69214397e-02 3.24153978e+02] [ 5.44849625e-01 8.38468471e-01 -1.04646698e-02 3.03768597e+01] [ 1.98908147e-02 -4.47130127e-04 9.99802058e-01 3.03166978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.20, Y:30.41, Z:3.03 [[ 8.38264259e-01 -5.45001687e-01 -1.69172307e-02 3.24204369e+02] [ 5.44901258e-01 8.38434832e-01 -1.04714697e-02 3.04084924e+01] [ 1.98909641e-02 -4.40361508e-04 9.99802058e-01 3.03332036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.25, Y:30.44, Z:3.03 [[ 8.37968521e-01 -5.45456406e-01 -1.69135404e-02 3.24253285e+02] [ 5.45355949e-01 8.38139077e-01 -1.04774269e-02 3.04397808e+01] [ 1.98908788e-02 -4.44145982e-04 9.99802058e-01 3.03458099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.30, Y:30.47, Z:3.03 [[ 8.36294655e-01 -5.48019458e-01 -1.69093100e-02 3.24302275e+02] [ 5.47919386e-01 8.36465437e-01 -1.04842498e-02 3.04721648e+01] [ 1.98896263e-02 -4.97016748e-04 9.99802058e-01 3.03340902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.35, Y:30.50, Z:3.03 [[ 8.35178840e-01 -5.49718585e-01 -1.69051045e-02 3.24351541e+02] [ 5.49618724e-01 8.35349745e-01 -1.04910264e-02 3.05039217e+01] [ 1.98887870e-02 -5.29478678e-04 9.99802058e-01 3.03495695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.40, Y:30.53, Z:3.04 [[ 8.33077458e-01 -5.52898100e-01 -1.69008960e-02 3.24401109e+02] [ 5.52798754e-01 8.33248663e-01 -1.04978020e-02 3.05337516e+01] [ 1.98868638e-02 -5.97312037e-04 9.99802058e-01 3.03634429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.45, Y:30.57, Z:3.04 [[ 8.30962192e-01 -5.56072242e-01 -1.68966670e-02 3.24451286e+02] [ 5.55973411e-01 8.31133695e-01 -1.05046043e-02 3.05655124e+01] [ 1.98847082e-02 -6.65168612e-04 9.99802058e-01 3.03612228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.50, Y:30.59, Z:3.04 [[ 8.29040610e-01 -5.58933176e-01 -1.68929686e-02 3.24502124e+02] [ 5.58834816e-01 8.29212383e-01 -1.05105485e-02 3.05943986e+01] [ 1.98825530e-02 -7.26707444e-04 9.99802058e-01 3.03996531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.55, Y:30.63, Z:3.04 [[ 8.27111572e-01 -5.61783891e-01 -1.68910305e-02 3.24552366e+02] [ 5.61686060e-01 8.27283647e-01 -1.05136623e-02 3.06262269e+01] [ 1.98800794e-02 -7.91484644e-04 9.99802058e-01 3.04008746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.60, Y:30.66, Z:3.04 [[ 8.25119716e-01 -5.64705472e-01 -1.68873918e-02 3.24603973e+02] [ 5.64608130e-01 8.25292069e-01 -1.05195036e-02 3.06558497e+01] [ 1.98774518e-02 -8.54908861e-04 9.99802058e-01 3.04100569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.65, Y:30.69, Z:3.04 [[ 8.23936316e-01 -5.66430830e-01 -1.68838052e-02 3.24654941e+02] [ 5.66333731e-01 8.24108806e-01 -1.05252569e-02 3.06850871e+01] [ 1.98759226e-02 -8.89727042e-04 9.99802058e-01 3.04229852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.71, Y:30.72, Z:3.04 [[ 8.23894663e-01 -5.66491521e-01 -1.68802112e-02 3.24705249e+02] [ 5.66394317e-01 8.24067094e-01 -1.05310179e-02 3.07154753e+01] [ 1.98761589e-02 -8.84406265e-04 9.99802058e-01 3.04160337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.76, Y:30.75, Z:3.04 [[ 8.24212898e-01 -5.66028530e-01 -1.68760969e-02 3.24756382e+02] [ 5.65931095e-01 8.24385198e-01 -1.05376069e-02 3.07455677e+01] [ 1.98769906e-02 -8.65476457e-04 9.99802059e-01 3.04333868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.81, Y:30.78, Z:3.04 [[ 8.25061303e-01 -5.64791258e-01 -1.68724919e-02 3.24807226e+02] [ 5.64693447e-01 8.25233390e-01 -1.05433760e-02 3.07763440e+01] [ 1.98785503e-02 -8.28854055e-04 9.99802059e-01 3.04319365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.86, Y:30.81, Z:3.05 [[ 8.26849672e-01 -5.62169958e-01 -1.68688566e-02 3.24858001e+02] [ 5.62071484e-01 8.27021379e-01 -1.05491890e-02 3.08060761e+01] [ 1.98813422e-02 -7.58909791e-04 9.99802059e-01 3.04538231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.91, Y:30.84, Z:3.05 [[ 8.27353553e-01 -5.61428235e-01 -1.68652056e-02 3.24908242e+02] [ 5.61329488e-01 8.27525104e-01 -1.05550227e-02 3.08367264e+01] [ 1.98822688e-02 -7.34201691e-04 9.99802059e-01 3.04618979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.96, Y:30.87, Z:3.05 [[ 8.29569899e-01 -5.58148252e-01 -1.68615503e-02 3.24958469e+02] [ 5.58048707e-01 8.29740989e-01 -1.05608588e-02 3.08672951e+01] [ 1.98852443e-02 -6.48595813e-04 9.99802059e-01 3.04788026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.01, Y:30.90, Z:3.05 [[ 8.31601544e-01 -5.55116829e-01 -1.68576017e-02 3.25007381e+02] [ 5.55016533e-01 8.31772194e-01 -1.05671580e-02 3.09000403e+01] [ 1.98876916e-02 -5.68582689e-04 9.99802059e-01 3.04657191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.06, Y:30.93, Z:3.05 [[ 8.33790131e-01 -5.51824215e-01 -1.68539073e-02 3.25057724e+02] [ 5.51723126e-01 8.33960312e-01 -1.05730471e-02 3.09317163e+01] [ 1.98899532e-02 -4.82988112e-04 9.99802059e-01 3.04961818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.11, Y:30.96, Z:3.05 [[ 8.35195033e-01 -5.49695670e-01 -1.68501620e-02 3.25107330e+02] [ 5.49594027e-01 8.35364884e-01 -1.05790125e-02 3.09647415e+01] [ 1.98912710e-02 -4.25209683e-04 9.99802059e-01 3.05041903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.16, Y:31.00, Z:3.05 [[ 8.36639800e-01 -5.47494334e-01 -1.68463307e-02 3.25156363e+02] [ 5.47392122e-01 8.36809309e-01 -1.05851101e-02 3.09976492e+01] [ 1.98924541e-02 -3.65624339e-04 9.99802059e-01 3.05039608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.24, Y:32.38, Z:4.91 [[ 8.11452798e-01 -5.84175216e-01 -1.68425884e-02 3.24235773e+02] [ 5.84080524e-01 8.11626621e-01 -1.05910613e-02 3.23795490e+01] [ 1.98569286e-02 -1.24328148e-03 9.99802059e-01 4.91395515e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 331.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.28, Y:32.41, Z:4.92 [[ 8.13078299e-01 -5.81925742e-01 -1.63128738e-02 3.24282294e+02] [ 5.81815059e-01 8.13241885e-01 -1.13522610e-02 3.24146234e+01] [ 1.98724851e-02 -2.60798596e-04 9.99802489e-01 4.91558356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.33, Y:32.45, Z:4.92 [[ 8.14190301e-01 -5.80369016e-01 -1.63082262e-02 3.24330006e+02] [ 5.80257887e-01 8.14353584e-01 -1.13589336e-02 3.24489102e+01] [ 1.98730356e-02 -2.14643273e-04 9.99802489e-01 4.91701125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.35, Y:33.78, Z:6.78 [[ 7.78562592e-01 -6.27355150e-01 -1.63035535e-02 3.23351082e+02] [ 6.27253700e-01 7.78732058e-01 -1.13656365e-02 3.37788264e+01] [ 1.98263903e-02 -1.37760484e-03 9.99802489e-01 6.77841901e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.29, Y:35.05, Z:8.64 [[ 7.39241444e-01 -6.73260703e-01 -1.55600099e-02 3.22294756e+02] [ 6.73149640e-01 7.39403901e-01 -1.23058274e-02 3.50459626e+01] [ 1.97901621e-02 -1.37723743e-03 9.99803207e-01 8.64048101e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.17, Y:36.25, Z:10.50 [[ 6.95429603e-01 -7.18442632e-01 -1.47597726e-02 3.21165126e+02] [ 7.18322756e-01 6.95584762e-01 -1.32006049e-02 3.62455855e+01] [ 1.97505502e-02 -1.42218909e-03 9.99803927e-01 1.05006146e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.96, Y:37.37, Z:12.36 [[ 6.46064445e-01 -7.63157465e-01 -1.38353206e-02 3.19961430e+02] [ 7.63028429e-01 6.46210958e-01 -1.41072598e-02 3.73665275e+01] [ 1.97065964e-02 -1.44254393e-03 9.99804766e-01 1.23612079e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.69, Y:38.40, Z:14.22 [[ 5.92259514e-01 -8.05645277e-01 -1.28201190e-02 3.18686995e+02] [ 8.05507383e-01 5.92396460e-01 -1.49763218e-02 3.84019833e+01] [ 1.96601961e-02 -1.45683141e-03 9.99805658e-01 1.42242286e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.35, Y:39.35, Z:16.07 [[ 5.22736820e-01 -8.52413547e-01 -1.17201585e-02 3.17345033e+02] [ 8.52269002e-01 5.22865318e-01 -1.57926554e-02 3.93451188e+01] [ 1.95899378e-02 -1.73332528e-03 9.99806596e-01 1.60734327e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.37, Y:39.40, Z:16.06 [[ 5.10676624e-01 -8.59713906e-01 -1.00690642e-02 3.17374616e+02] [ 8.59550073e-01 5.10775874e-01 -1.67832662e-02 3.93970405e+01] [ 1.95718424e-02 -8.40431750e-05 9.99808450e-01 1.60621415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.95, Y:40.20, Z:17.92 [[ 4.47021003e-01 -8.94466852e-01 -1.00634728e-02 3.15950362e+02] [ 8.94310570e-01 4.47131763e-01 -1.67866182e-02 4.02024661e+01] [ 1.95147718e-02 -1.49589924e-03 9.99808450e-01 1.79211807e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.47, Y:40.90, Z:19.78 [[ 3.79524124e-01 -9.25140366e-01 -8.76031917e-03 3.14473415e+02] [ 9.24977136e-01 3.79622316e-01 -1.74411864e-02 4.08982043e+01] [ 1.94611582e-02 -1.48374394e-03 9.99809513e-01 1.97788667e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:40.95, Z:19.78 [[ 3.78844594e-01 -9.25430479e-01 -7.42980490e-03 3.14492820e+02] [ 9.25255592e-01 3.78917439e-01 -1.79906849e-02 4.09536919e+01] [ 1.94644108e-02 -5.87948052e-05 9.99810549e-01 1.97789917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.98, Y:41.53, Z:21.64 [[ 3.10498102e-01 -9.50545014e-01 -7.42325557e-03 3.12977247e+02] [ 9.50375829e-01 3.10583356e-01 -1.79933869e-02 4.15342886e+01] [ 1.94090638e-02 -1.46797020e-03 9.99810549e-01 2.16350700e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.70232058799996 meters Centerline goodness : 0.999953 with order 1 Centerline is valid? [True, True] Translation: X:311.43, Y:42.00, Z:23.49 [[ 2.42999440e-01 -9.70007363e-01 -6.08175563e-03 3.11425459e+02] [ 9.69833188e-01 2.43071397e-01 -1.84359489e-02 4.20030659e+01] [ 1.93613070e-02 -1.41836319e-03 9.99811546e-01 2.34892220e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.85, Y:42.37, Z:25.34 [[ 1.78809941e-01 -9.83871896e-01 -4.80591450e-03 3.09847077e+02] [ 9.83693931e-01 1.78869248e-01 -1.87627616e-02 4.23657606e+01] [ 1.93197841e-02 -1.37258063e-03 9.99812413e-01 2.53412500e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 332.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.85, Y:42.42, Z:25.35 [[ 1.89449242e-01 -9.81883916e-01 -3.60008702e-03 3.09853278e+02] [ 9.81700238e-01 1.89483434e-01 -1.89913585e-02 4.24244764e+01] [ 1.93294663e-02 6.36921821e-05 9.99813166e-01 2.53499370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.86, Y:42.48, Z:25.34 [[ 1.75683453e-01 -9.84440152e-01 -3.59320584e-03 3.09864741e+02] [ 9.84256944e-01 1.75720081e-01 -1.89926603e-02 4.24824532e+01] [ 1.93285358e-02 -1.99941650e-04 9.99813166e-01 2.53415836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.28, Y:42.74, Z:27.19 [[ 1.19887217e-01 -9.92781040e-01 -3.58636031e-03 3.08275713e+02] [ 9.92600155e-01 1.19933988e-01 -1.89939528e-02 4.27410329e+01] [ 1.92869627e-02 -1.28268966e-03 9.99813166e-01 2.71934364e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.28, Y:42.80, Z:27.19 [[ 1.19774327e-01 -9.92797884e-01 -2.54414629e-03 3.08281505e+02] [ 9.92613539e-01 1.19801117e-01 -1.91325518e-02 4.27992326e+01] [ 1.92995485e-02 -2.33765533e-04 9.99813719e-01 2.71937093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062320588 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:308.28, Y:42.86, Z:27.22 [[ 1.44128948e-01 -9.89555665e-01 -2.53629262e-03 3.08281470e+02] [ 9.89370699e-01 1.44151049e-01 -1.91335928e-02 4.28588696e+01] [ 1.92993644e-02 2.48371006e-04 9.99813719e-01 2.72180375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.29, Y:42.92, Z:27.20 [[ 1.27623523e-01 -9.91819456e-01 -2.53026754e-03 3.08294529e+02] [ 9.91634869e-01 1.27648585e-01 -1.91343895e-02 4.29180901e+01] [ 1.93008449e-02 -6.71033295e-05 9.99813719e-01 2.72017358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.71, Y:43.09, Z:29.04 [[ 5.22489474e-02 -9.98630901e-01 -2.52409715e-03 3.06709285e+02] [ 9.98448713e-01 5.22877805e-02 -1.91352035e-02 4.30880119e+01] [ 1.92409849e-02 -1.52038732e-03 9.99813719e-01 2.90354241e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.12, Y:43.13, Z:30.87 [[-1.17873346e-02 -9.99930030e-01 -9.97416005e-04 3.05115673e+02] [ 9.99746150e-01 -1.17660008e-02 -1.92144754e-02 4.31309484e+01] [ 1.92013954e-02 -1.22365026e-03 9.99814887e-01 3.08746788e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.12, Y:43.19, Z:30.87 [[-1.41310462e-02 -9.99900150e-01 -5.66758936e-05 3.05117266e+02] [ 9.99715517e-01 -1.41273476e-02 -1.92172584e-02 4.31907820e+01] [ 1.92145389e-02 -3.28219737e-04 9.99815330e-01 3.08714985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.53, Y:43.16, Z:32.73 [[-5.73523414e-02 -9.98353998e-01 -5.59857689e-05 3.03526199e+02] [ 9.98169697e-01 -5.73406762e-02 -1.92172604e-02 4.31562754e+01] [ 1.91824185e-02 -1.15803818e-03 9.99815330e-01 3.27268944e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.422320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.52, Y:43.15, Z:32.72 [[-5.82166661e-02 -9.98303688e-01 7.53094030e-04 3.03524573e+02] [ 9.98119383e-01 -5.82203913e-02 -1.91855076e-02 4.31509221e+01] [ 1.91968085e-02 -3.65238545e-04 9.99815658e-01 3.27245696e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.88, Y:42.99, Z:34.58 [[-1.01942852e-01 -9.94789958e-01 7.70507355e-04 3.01875504e+02] [ 9.94605660e-01 -1.01938825e-01 -1.91848083e-02 4.29870511e+01] [ 1.91633993e-02 -1.18940309e-03 9.99815658e-01 3.45760168e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.87, Y:42.97, Z:34.59 [[-8.56286093e-02 -9.96325778e-01 1.63887294e-03 3.01872308e+02] [ 9.96142485e-01 -8.56442912e-02 -1.91103459e-02 4.29663261e+01] [ 1.91804904e-02 -3.84138678e-06 9.99816037e-01 3.45875679e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.25, Y:42.73, Z:36.43 [[-1.51726559e-01 -9.88421122e-01 1.65419719e-03 3.00246245e+02] [ 9.88237198e-01 -1.51730306e-01 -1.91090194e-02 4.27336078e+01] [ 1.91387502e-02 -1.26460656e-03 9.99816038e-01 3.64264961e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.64, Y:42.40, Z:38.28 [[-2.04615741e-01 -9.78838742e-01 2.66749678e-03 2.98643756e+02] [ 9.78655796e-01 -2.04629185e-01 -1.89665166e-02 4.24022168e+01] [ 1.91110089e-02 -1.27028667e-03 9.99816561e-01 3.82767916e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.64, Y:42.40, Z:38.27 [[-2.04250075e-01 -9.78911804e-01 3.68592711e-03 2.98639240e+02] [ 9.78731930e-01 -2.04283206e-01 -1.87664972e-02 4.23980480e+01] [ 1.91237187e-02 -2.25523909e-04 9.99817100e-01 3.82740787e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.07, Y:41.99, Z:40.13 [[-2.59297334e-01 -9.65790442e-01 3.70332072e-03 2.97072716e+02] [ 9.65609024e-01 -2.59320574e-01 -1.87630642e-02 4.19860525e+01] [ 1.90815353e-02 -1.28925263e-03 9.99817100e-01 4.01255477e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.07, Y:41.99, Z:40.12 [[-2.62482383e-01 -9.64925102e-01 4.74830169e-03 2.97068425e+02] [ 9.64747879e-01 -2.62525185e-01 -1.84947901e-02 4.19869750e+01] [ 1.90926360e-02 -2.73642606e-04 9.99817682e-01 4.01238883e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.07, Y:41.99, Z:40.12 [[-2.65279582e-01 -9.64159766e-01 4.76326116e-03 2.97067342e+02] [ 9.63982489e-01 -2.65322157e-01 -1.84909366e-02 4.19939552e+01] [ 1.90920158e-02 -3.13567581e-04 9.99817682e-01 4.01238711e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.07, Y:41.99, Z:40.12 [[-2.66682091e-01 -9.63772697e-01 4.78022101e-03 2.97067598e+02] [ 9.63595436e-01 -2.66724733e-01 -1.84865511e-02 4.19919447e+01] [ 1.90918364e-02 -3.23832961e-04 9.99817682e-01 4.01240458e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.53, Y:41.50, Z:41.97 [[-3.09602784e-01 -9.50853893e-01 4.79492493e-03 2.95532708e+02] [ 9.50674954e-01 -3.09637724e-01 -1.84827365e-02 4.14985101e+01] [ 1.90590716e-02 -1.16389165e-03 9.99817682e-01 4.19746301e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 334.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.53, Y:41.49, Z:41.98 [[-3.09631889e-01 -9.50840085e-01 5.58807690e-03 2.95534306e+02] [ 9.50665183e-01 -3.09682129e-01 -1.82397469e-02 4.14923030e+01] [ 1.90736101e-02 -3.35217147e-04 9.99818026e-01 4.19751662e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.53, Y:41.49, Z:41.97 [[-3.09036720e-01 -9.51033593e-01 5.60455639e-03 2.95534925e+02] [ 9.50858814e-01 -3.09087385e-01 -1.82346818e-02 4.14884053e+01] [ 1.90740927e-02 -3.06044430e-04 9.99818026e-01 4.19741173e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.03, Y:40.91, Z:43.82 [[-3.55082286e-01 -9.34818156e-01 5.62008489e-03 2.94028469e+02] [ 9.34641185e-01 -3.55124662e-01 -1.82298946e-02 4.09136259e+01] [ 1.90374672e-02 -1.22034984e-03 9.99818026e-01 4.38229554e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 334.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.03, Y:40.91, Z:43.82 [[-3.55022525e-01 -9.34835107e-01 6.50605777e-03 2.94028467e+02] [ 9.34663606e-01 -3.55082026e-01 -1.79080261e-02 4.09106369e+01] [ 1.90512357e-02 -2.76777217e-04 9.99818470e-01 4.38229083e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.03, Y:40.91, Z:43.82 [[-3.56398389e-01 -9.34311321e-01 6.52254040e-03 2.94028790e+02] [ 9.34139842e-01 -3.56457953e-01 -1.79020207e-02 4.09106827e+01] [ 1.90510720e-02 -2.87286461e-04 9.99818471e-01 4.38205701e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.55, Y:40.26, Z:45.67 [[-4.04243713e-01 -9.14627936e-01 6.53899781e-03 2.92553529e+02] [ 9.14453700e-01 -4.04294650e-01 -1.78960073e-02 4.02599393e+01] [ 1.90118701e-02 -1.25473772e-03 9.99818471e-01 4.56702183e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 334.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.55, Y:40.26, Z:45.67 [[-4.03377656e-01 -9.15003085e-01 7.47137582e-03 2.92554122e+02] [ 9.14835788e-01 -4.03446781e-01 -1.74979048e-02 4.02550958e+01] [ 1.90249394e-02 -2.23181841e-04 9.99818985e-01 4.56681127e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.56, Y:40.25, Z:45.67 [[-4.01597128e-01 -9.15785845e-01 7.48557933e-03 2.92558493e+02] [ 9.15618795e-01 -4.01666849e-01 -1.74918264e-02 4.02470298e+01] [ 1.90254761e-02 -1.70730134e-04 9.99818985e-01 4.56687981e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.12, Y:39.51, Z:47.52 [[-4.61236546e-01 -8.87245495e-01 7.50200599e-03 2.91124210e+02] [ 8.87074314e-01 -4.61295397e-01 -1.74847784e-02 3.95144168e+01] [ 1.89739317e-02 -1.40978199e-03 9.99818985e-01 4.75191128e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 334.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.13, Y:39.50, Z:47.52 [[-4.59142922e-01 -8.88320003e-01 8.68039087e-03 2.91128205e+02] [ 8.88159635e-01 -4.59224967e-01 -1.68787793e-02 3.95002483e+01] [ 1.89800095e-02 -4.01992759e-05 9.99819863e-01 4.75194714e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.13, Y:39.50, Z:47.52 [[-4.58711290e-01 -8.88542827e-01 8.69470379e-03 2.91126211e+02] [ 8.88382638e-01 -4.58793685e-01 -1.68714032e-02 3.94988606e+01] [ 1.89800394e-02 -1.48792172e-05 9.99819863e-01 4.75191957e+01] [ 0.00000000e+00 -0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.13, Y:39.50, Z:47.52 [[-4.58457781e-01 -8.88673493e-01 8.71127584e-03 2.91126628e+02] [ 8.88513490e-01 -4.58540536e-01 -1.68628421e-02 3.94955565e+01] [ 1.89800339e-02 9.18491756e-06 9.99819863e-01 4.75206710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.12, Y:39.50, Z:47.52 [[-4.58301341e-01 -8.88754039e-01 8.72574213e-03 2.91123438e+02] [ 8.88594193e-01 -4.58384399e-01 -1.68553531e-02 3.94961261e+01] [ 1.89800072e-02 2.88128324e-05 9.99819863e-01 4.75206473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.12, Y:39.49, Z:47.52 [[-4.59713296e-01 -8.88024357e-01 8.74228428e-03 2.91120281e+02] [ 8.87864542e-01 -4.59796413e-01 -1.68467689e-02 3.94938916e+01] [ 1.89800121e-02 1.72805501e-05 9.99819863e-01 4.75195330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.922320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.77, Y:38.68, Z:49.37 [[-5.30558537e-01 -8.47603046e-01 8.75874087e-03 2.89766357e+02] [ 8.47437126e-01 -5.30628677e-01 -1.68382087e-02 3.86751782e+01] [ 1.89197561e-02 -1.51117318e-03 9.99819863e-01 4.93659893e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 334.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.76, Y:38.67, Z:49.36 [[-5.29756482e-01 -8.48090171e-01 1.00564555e-02 2.89759144e+02] [ 8.47938781e-01 -5.29851924e-01 -1.60237956e-02 3.86740587e+01] [ 1.89180558e-02 3.85490807e-05 9.99821037e-01 4.93627488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.76, Y:38.67, Z:49.37 [[-5.31705479e-01 -8.46869456e-01 1.00701367e-02 2.89762838e+02] [ 8.46718011e-01 -5.31800831e-01 -1.60151931e-02 3.86698891e+01] [ 1.89180849e-02 1.12001947e-05 9.99821037e-01 4.93659311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.76, Y:38.66, Z:49.36 [[-5.33257226e-01 -8.45893024e-01 1.00858058e-02 2.89759841e+02] [ 8.45741590e-01 -5.33352596e-01 -1.60053191e-02 3.86646511e+01] [ 1.89180785e-02 -4.96659531e-06 9.99821037e-01 4.93647090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.50, Y:37.75, Z:51.21 [[-5.99266611e-01 -8.00485782e-01 1.01015388e-02 2.88495669e+02] [ 8.00327363e-01 -5.99349864e-01 -1.59953833e-02 3.77531412e+01] [ 1.88584328e-02 -1.50096125e-03 9.99821037e-01 5.12090635e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 335.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.49, Y:37.75, Z:51.21 [[-5.99581017e-01 -8.00234075e-01 1.13149542e-02 2.88494719e+02] [ 8.00091876e-01 -5.99687772e-01 -1.50852681e-02 3.77492487e+01] [ 1.88571853e-02 8.16254420e-06 9.99822187e-01 5.12094583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.49, Y:37.74, Z:51.21 [[-6.00402950e-01 -7.99617367e-01 1.13297684e-02 2.88491098e+02] [ 7.99475268e-01 -6.00509838e-01 -1.50741338e-02 3.77448423e+01] [ 1.88571765e-02 7.31522888e-06 9.99822188e-01 5.12072821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.49, Y:37.74, Z:51.21 [[-6.00797253e-01 -7.99320938e-01 1.13445716e-02 2.88489851e+02] [ 7.99178997e-01 -6.00904350e-01 -1.50629849e-02 3.77446845e+01] [ 1.88571616e-02 1.65434007e-05 9.99822188e-01 5.12089054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.33, Y:36.74, Z:53.05 [[-6.64555401e-01 -7.47152652e-01 1.13593198e-02 2.87325981e+02] [ 7.47002563e-01 -6.64650745e-01 -1.50518547e-02 3.67430146e+01] [ 1.87960135e-02 -1.51735033e-03 9.99822188e-01 5.30510464e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 335.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.25, Y:35.65, Z:54.89 [[-7.23906085e-01 -6.89784944e-01 1.25184283e-02 2.86250523e+02] [ 6.89644178e-01 -7.24012735e-01 -1.40166740e-02 3.56542458e+01] [ 1.87319922e-02 -1.51349446e-03 9.99823395e-01 5.48907240e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 335.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:34.49, Z:56.73 [[-7.79395253e-01 -6.26385225e-01 1.35863676e-02 2.85271465e+02] [ 6.26254450e-01 -7.79512143e-01 -1.28911759e-02 3.44869624e+01] [ 1.86655807e-02 -1.53879811e-03 9.99824599e-01 5.67293056e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 335.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:34.48, Z:56.73 [[-7.79870498e-01 -6.25770848e-01 1.45894067e-02 2.85270555e+02] [ 6.25662708e-01 -7.80006950e-01 -1.16332956e-02 3.44843503e+01] [ 1.86596158e-02 5.55836702e-05 9.99825893e-01 5.67279972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:34.48, Z:56.73 [[-7.80024301e-01 -6.25578858e-01 1.46007816e-02 2.85268040e+02] [ 6.25470951e-01 -7.80160937e-01 -1.16190015e-02 3.44811548e+01] [ 1.86595611e-02 6.92611997e-05 9.99825893e-01 5.67277262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:34.48, Z:56.73 [[-7.80084926e-01 -6.25502993e-01 1.46121136e-02 2.85265641e+02] [ 6.25395341e-01 -7.80221762e-01 -1.16047328e-02 3.44787382e+01] [ 1.86594841e-02 8.56706775e-05 9.99825893e-01 5.67297559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:34.47, Z:56.73 [[-7.80893478e-01 -6.24493020e-01 1.46233888e-02 2.85266504e+02] [ 6.24385457e-01 -7.81030384e-01 -1.15905072e-02 3.44747225e+01] [ 1.86595018e-02 7.96797678e-05 9.99825893e-01 5.67301637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:34.47, Z:56.73 [[-7.81638010e-01 -6.23560621e-01 1.46346406e-02 2.85265733e+02] [ 6.23453160e-01 -7.81774997e-01 -1.15762828e-02 3.44693755e+01] [ 1.86595102e-02 7.55502766e-05 9.99825893e-01 5.67295485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:34.47, Z:56.73 [[-7.83420639e-01 -6.21319241e-01 1.46459071e-02 2.85268605e+02] [ 6.21211656e-01 -7.83557527e-01 -1.15620113e-02 3.44659849e+01] [ 1.86596108e-02 4.02899117e-05 9.99825893e-01 5.67298153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:34.46, Z:56.73 [[-7.84455108e-01 -6.20012412e-01 1.46557657e-02 2.85267915e+02] [ 6.19904832e-01 -7.84592001e-01 -1.15495011e-02 3.44642821e+01] [ 1.86596306e-02 2.51148528e-05 9.99825894e-01 5.67281082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.43, Y:33.25, Z:58.57 [[-8.34133887e-01 -5.51367008e-01 1.46656445e-02 2.84427958e+02] [ 5.51248442e-01 -8.34261382e-01 -1.15369433e-02 3.32498981e+01] [ 1.85960708e-02 -1.53894165e-03 9.99825894e-01 5.85685620e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.69, Y:31.98, Z:60.41 [[-8.80575799e-01 -4.73650137e-01 1.55502290e-02 2.83693301e+02] [ 4.73543308e-01 -8.80711626e-01 -1.01866414e-02 3.19757827e+01] [ 1.85201715e-02 -1.60640300e-03 9.99827196e-01 6.04090685e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.69, Y:31.97, Z:60.41 [[-8.80560612e-01 -4.73650756e-01 1.63697983e-02 2.83692577e+02] [ 4.73572106e-01 -8.80712745e-01 -8.63256632e-03 3.19722867e+01] [ 1.85059116e-02 1.50782000e-04 9.99828740e-01 6.04087950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.09, Y:30.65, Z:62.25 [[-9.24096763e-01 -3.81807455e-01 1.63780587e-02 2.83091647e+02] [ 3.81714042e-01 -9.24240304e-01 -8.61686591e-03 3.06469012e+01] [ 1.84272456e-02 -1.71108291e-03 9.99828740e-01 6.22497248e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.64, Y:29.27, Z:64.09 [[-9.60148346e-01 -2.78967021e-01 1.71042063e-02 2.82641536e+02] [ 2.78889917e-01 -9.60299095e-01 -6.78695505e-03 2.92743760e+01] [ 1.83184905e-02 -1.74629300e-03 9.99830677e-01 6.40885818e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.64, Y:29.27, Z:64.09 [[-9.60563803e-01 -2.77499374e-01 1.76430743e-02 2.82642020e+02] [ 2.77457804e-01 -9.60725779e-01 -4.81090615e-03 2.92667687e+01] [ 1.82851797e-02 2.74026331e-04 9.99832775e-01 6.40882824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.65, Y:29.26, Z:64.09 [[-9.61101524e-01 -2.75630956e-01 1.76475876e-02 2.82645642e+02] [ 2.75589376e-01 -9.61263497e-01 -4.79429291e-03 2.92600558e+01] [ 1.82854373e-02 2.55685424e-04 9.99832775e-01 6.40865182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.422320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:282.65, Y:29.26, Z:64.09 [[-9.61453934e-01 -2.74398862e-01 1.76520999e-02 2.82645352e+02] [ 2.74357381e-01 -9.61615933e-01 -4.77762091e-03 2.92550070e+01] [ 1.82855143e-02 2.49521472e-04 9.99832775e-01 6.40877872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48232058799994 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:282.37, Y:27.88, Z:65.92 [[-9.85452690e-01 -1.69030293e-01 1.76566094e-02 2.82368236e+02] [ 1.68971867e-01 -9.85609376e-01 -4.76089668e-03 2.78798635e+01] [ 1.82072555e-02 -1.70816819e-03 9.99832775e-01 6.59248475e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.54232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:282.24, Y:26.49, Z:67.76 [[-9.97883575e-01 -6.24958544e-02 1.79621348e-02 2.82242253e+02] [ 6.24554195e-02 -9.98043816e-01 -2.80388055e-03 2.64887018e+01] [ 1.81022284e-02 -1.67611369e-03 9.99834736e-01 6.77610804e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.27, Y:25.10, Z:69.60 [[-9.99031639e-01 4.01218445e-02 1.80560850e-02 2.82270943e+02] [-4.01442976e-02 -9.99193503e-01 -8.82644901e-04 2.50994758e+01] [ 1.80061095e-02 -1.60663903e-03 9.99836586e-01 6.95970735e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:23.72, Z:71.43 [[-9.90457124e-01 1.36645273e-01 1.79653664e-02 2.82432897e+02] [-1.36651082e-01 -9.90618824e-01 9.09632845e-04 2.37247029e+01] [ 1.79211271e-02 -1.55403442e-03 9.99838196e-01 7.14313254e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 336.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.44, Y:23.72, Z:71.43 [[-9.90196869e-01 1.38550125e-01 1.77206845e-02 2.82435087e+02] [-1.38526024e-01 -9.90355417e-01 2.58630608e-03 2.37210822e+01] [ 1.79081089e-02 1.06176209e-04 9.99839631e-01 7.14305408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:23.72, Z:71.43 [[-9.90275419e-01 1.37987255e-01 1.77231798e-02 2.82433255e+02] [-1.37963372e-01 -9.90434000e-01 2.56909184e-03 2.37163288e+01] [ 1.79081418e-02 9.89588460e-05 9.99839631e-01 7.14302374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:23.71, Z:71.43 [[-9.90228250e-01 1.38325027e-01 1.77256657e-02 2.82432390e+02] [-1.38301507e-01 -9.90386885e-01 2.55182420e-03 2.37126808e+01] [ 1.79082480e-02 7.54021192e-05 9.99839632e-01 7.14287566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:23.71, Z:71.43 [[-9.90452162e-01 1.36712250e-01 1.77278138e-02 2.82433364e+02] [-1.36688740e-01 -9.90610798e-01 2.53681312e-03 2.37070474e+01] [ 1.79081772e-02 8.93995032e-05 9.99839632e-01 7.14284902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:23.70, Z:71.43 [[-9.90509300e-01 1.36297338e-01 1.77302703e-02 2.82430737e+02] [-1.36274072e-01 -9.90667971e-01 2.51952640e-03 2.37033334e+01] [ 1.79082156e-02 7.94381969e-05 9.99839632e-01 7.14293445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:22.39, Z:73.27 [[-9.75651581e-01 2.18608196e-01 1.77327099e-02 2.82704507e+02] [-2.18598585e-01 -9.75811661e-01 2.50223730e-03 2.23936854e+01] [ 1.78507947e-02 -1.43503353e-03 9.99839632e-01 7.32665358e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 337.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.71, Y:22.39, Z:73.27 [[-9.75441971e-01 2.19567446e-01 1.74096868e-02 2.82707345e+02] [-2.19532229e-01 -9.75597323e-01 3.93241896e-03 2.23898934e+01] [ 1.78482750e-02 1.38591472e-05 9.99840707e-01 7.32665426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:22.39, Z:73.27 [[-9.75282652e-01 2.20273732e-01 1.74135400e-02 2.82702486e+02] [-2.20238934e-01 -9.75438098e-01 3.91528154e-03 2.23860798e+01] [ 1.78482640e-02 -1.66333261e-05 9.99840707e-01 7.32656987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:22.38, Z:73.27 [[-9.75174073e-01 2.20753625e-01 1.74173764e-02 2.82697069e+02] [-2.20719209e-01 -9.75329603e-01 3.89814034e-03 2.23841422e+01] [ 1.78482114e-02 -4.29841388e-05 9.99840707e-01 7.32663786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:22.38, Z:73.27 [[-9.75281171e-01 2.20279686e-01 1.74211700e-02 2.82696811e+02] [-2.20245499e-01 -9.75436752e-01 3.88111185e-03 2.23823527e+01] [ 1.78481796e-02 -5.17589680e-05 9.99840707e-01 7.32659895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:22.38, Z:73.27 [[-9.76022285e-01 2.16972052e-01 1.74249374e-02 2.82701845e+02] [-2.16937641e-01 -9.76177816e-01 3.86412284e-03 2.23793894e+01] [ 1.78482440e-02 -8.65482913e-06 9.99840707e-01 7.32656496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:22.38, Z:73.27 [[-9.76423403e-01 2.15159424e-01 1.74287122e-02 2.82701131e+02] [-2.15125030e-01 -9.76578938e-01 3.84702166e-03 2.23782435e+01] [ 1.78482362e-02 6.96975665e-06 9.99840708e-01 7.32652953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:22.37, Z:73.27 [[-9.77135208e-01 2.11903030e-01 1.74324990e-02 2.82696214e+02] [-2.11868424e-01 -9.77290696e-01 3.82978460e-03 2.23732761e+01] [ 1.78481621e-02 4.88212747e-05 9.99840708e-01 7.32665670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.69, Y:22.37, Z:73.27 [[-9.77758588e-01 2.09007463e-01 1.74362544e-02 2.82693715e+02] [-2.08972704e-01 -9.77914042e-01 3.81261018e-03 2.23682484e+01] [ 1.78480220e-02 8.41111327e-05 9.99840708e-01 7.32661962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.69, Y:22.36, Z:73.27 [[-9.78534078e-01 2.05345818e-01 1.74399754e-02 2.82686520e+02] [-2.05310781e-01 -9.78689469e-01 3.79551249e-03 2.23635532e+01] [ 1.78477129e-02 1.33423344e-04 9.99840708e-01 7.32658123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.68, Y:22.36, Z:73.27 [[-9.78877564e-01 2.03701824e-01 1.74436516e-02 2.82684890e+02] [-2.03666828e-01 -9.79032965e-01 3.77854121e-03 2.23586286e+01] [ 1.78476057e-02 1.46036015e-04 9.99840708e-01 7.32662031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.68, Y:22.35, Z:73.27 [[-9.79068614e-01 2.02781262e-01 1.74472884e-02 2.82683993e+02] [-2.02746421e-01 -9.79224049e-01 3.76167317e-03 2.23541236e+01] [ 1.78476012e-02 1.45560852e-04 9.99840708e-01 7.32651577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.69, Y:22.35, Z:73.27 [[-9.79105252e-01 2.02603977e-01 1.74509089e-02 2.82686379e+02] [-2.02569408e-01 -9.79260747e-01 3.74480164e-03 2.23512714e+01] [ 1.78477018e-02 1.31534661e-04 9.99840708e-01 7.32669030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.69, Y:22.35, Z:73.27 [[-9.78977913e-01 2.03218073e-01 1.74545236e-02 2.82686004e+02] [-2.03183904e-01 -9.79133497e-01 3.72787685e-03 2.23455820e+01] [ 1.78478807e-02 1.03030846e-04 9.99840709e-01 7.32693802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.69, Y:22.34, Z:73.27 [[-9.78292751e-01 2.06490938e-01 1.74581340e-02 2.82690379e+02] [-2.06457592e-01 -9.78448513e-01 3.71089148e-03 2.23428656e+01] [ 1.78481507e-02 2.59739096e-05 9.99840709e-01 7.32660222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.68, Y:22.34, Z:73.27 [[-9.77175487e-01 2.11714798e-01 1.74617492e-02 2.82677792e+02] [-2.11682591e-01 -9.77331488e-01 3.69380147e-03 2.23383068e+01] [ 1.78479498e-02 -8.68560614e-05 9.99840709e-01 7.32670642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.66, Y:22.33, Z:73.27 [[-9.76629683e-01 2.14218171e-01 1.74653265e-02 2.82664005e+02] [-2.14186667e-01 -9.76785827e-01 3.67680910e-03 2.23337002e+01] [ 1.78475227e-02 -1.49959153e-04 9.99840709e-01 7.32691096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.98, Y:21.14, Z:75.11 [[-9.63155834e-01 2.68376006e-01 1.74688139e-02 2.82975413e+02] [-2.68353564e-01 -9.63313536e-01 3.66016465e-03 2.11368789e+01] [ 1.78102452e-02 -1.16250953e-03 9.99840709e-01 7.51059770e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 338.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.96, Y:21.14, Z:75.10 [[-9.62330029e-01 2.71338067e-01 1.72211897e-02 2.82963745e+02] [-2.71299373e-01 -9.62484071e-01 4.58938142e-03 2.11357111e+01] [ 1.78203947e-02 -2.55598410e-04 9.99841171e-01 7.51044729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.35, Y:19.69, Z:75.34 [[-9.67040716e-01 -1.11746118e-02 -2.54376456e-01 2.83347983e+02] [-2.52495446e-01 -8.67554597e-02 9.63700960e-01 1.96944126e+01] [-3.28375305e-02 9.96166963e-01 8.10745233e-02 7.53361028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.98, Y:21.14, Z:75.12 [[-9.62865801e-01 2.65649433e-01 -4.81646007e-02 2.82979676e+02] [-2.65355983e-01 -9.64069412e-01 -1.25048487e-02 2.11429868e+01] [-4.97559242e-02 7.40273827e-04 9.98761133e-01 7.51185524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.83, Y:21.38, Z:76.68 [[-9.67754557e-01 1.19696730e-02 -2.51610503e-01 2.82831518e+02] [-2.51837303e-01 -2.45877184e-02 9.67457191e-01 2.13848138e+01] [ 5.39361807e-03 9.99626016e-01 2.68092867e-02 7.66822547e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 338.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.88, Z:76.42 [[-9.65918256e-01 2.58751488e-01 -7.04206555e-03 2.82453213e+02] [-2.58745023e-01 -9.65943924e-01 -1.82999140e-03 2.28752674e+01] [-7.27575343e-03 5.44773044e-05 9.99973530e-01 7.64237006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:22.88, Z:76.42 [[-9.67025973e-01 2.54580346e-01 -7.04377578e-03 2.82463430e+02] [-2.54573818e-01 -9.67051626e-01 -1.82338475e-03 2.28758919e+01] [-7.27589274e-03 2.99004846e-05 9.99973530e-01 7.64189916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.47, Y:22.88, Z:76.42 [[-9.68530155e-01 2.48796503e-01 -7.04551294e-03 2.82468403e+02] [-2.48789871e-01 -9.68555780e-01 -1.81664753e-03 2.28773212e+01] [-7.27594783e-03 -6.62565656e-06 9.99973530e-01 7.64190901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.47, Y:22.87, Z:76.42 [[-9.70033341e-01 2.42869624e-01 -7.04727349e-03 2.82465532e+02] [-2.42862885e-01 -9.70058938e-01 -1.80979200e-03 2.28714099e+01] [-7.27581414e-03 -4.40374149e-05 9.99973530e-01 7.64196176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:22.87, Z:76.42 [[-9.71185766e-01 2.38219477e-01 -7.04903552e-03 2.82456048e+02] [-2.38212665e-01 -9.71211345e-01 -1.80290277e-03 2.28654779e+01] [-7.27558982e-03 -7.17839704e-05 9.99973530e-01 7.64208179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.86, Z:76.42 [[-9.71661767e-01 2.36270391e-01 -7.05077319e-03 2.82450487e+02] [-2.36263577e-01 -9.71687345e-01 -1.79608127e-03 2.28594730e+01] [-7.27550791e-03 -7.93426037e-05 9.99973530e-01 7.64225180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.85, Z:76.42 [[-9.72244116e-01 2.33862475e-01 -7.05130930e-03 2.82451469e+02] [-2.33855614e-01 -9.72269682e-01 -1.79397408e-03 2.28541080e+01] [-7.27531747e-03 -9.51924790e-05 9.99973530e-01 7.64238165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.85, Z:76.42 [[-9.72152409e-01 2.34243352e-01 -7.05301059e-03 2.82451254e+02] [-2.34236549e-01 -9.72177990e-01 -1.78726034e-03 2.28495297e+01] [-7.27543551e-03 -8.54165849e-05 9.99973530e-01 7.64225560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.85, Z:76.42 [[-9.71873052e-01 2.35399665e-01 -7.05470827e-03 2.82454865e+02] [-2.35392942e-01 -9.71898654e-01 -1.78053389e-03 2.28485977e+01] [-7.27559855e-03 -6.98243675e-05 9.99973530e-01 7.64226480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:22.85, Z:76.43 [[-9.71337878e-01 2.37598260e-01 -7.05640866e-03 2.82458142e+02] [-2.37591643e-01 -9.71363508e-01 -1.77376943e-03 2.28478027e+01] [-7.27578239e-03 -4.63857029e-05 9.99973530e-01 7.64250379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:22.85, Z:76.42 [[-9.71365494e-01 2.37485285e-01 -7.05811814e-03 2.82456070e+02] [-2.37478715e-01 -9.71391135e-01 -1.76694082e-03 2.28450079e+01] [-7.27581584e-03 -4.01925174e-05 9.99973530e-01 7.64240316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.84, Z:76.42 [[-9.71556140e-01 2.36704089e-01 -7.05982745e-03 2.82453546e+02] [-2.36697548e-01 -9.71581789e-01 -1.76008465e-03 2.28419163e+01] [-7.27581902e-03 -3.89772003e-05 9.99973530e-01 7.64240774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:282.47, Y:22.84, Z:76.44 [[-9.71830239e-01 2.35576155e-01 -7.06130574e-03 2.82473707e+02] [-2.35569628e-01 -9.71855891e-01 -1.75413376e-03 2.28447078e+01] [-7.27580367e-03 -4.12910639e-05 9.99973530e-01 7.64388780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.83, Z:76.43 [[-9.71992413e-01 2.34906078e-01 -7.06280653e-03 2.82454259e+02] [-2.34899577e-01 -9.72018072e-01 -1.74807007e-03 2.28341219e+01] [-7.27580787e-03 -4.00605764e-05 9.99973530e-01 7.64268838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.83, Z:76.43 [[-9.72210187e-01 2.34003095e-01 -7.06430448e-03 2.82452622e+02] [-2.33996614e-01 -9.72235851e-01 -1.74199543e-03 2.28303003e+01] [-7.27580240e-03 -4.05623763e-05 9.99973530e-01 7.64290854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:22.83, Z:76.43 [[-9.72026036e-01 2.34766816e-01 -7.06598462e-03 2.82455959e+02] [-2.34760405e-01 -9.72051718e-01 -1.73515348e-03 2.28260558e+01] [-7.27585894e-03 -2.78009510e-05 9.99973530e-01 7.64297532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:22.82, Z:76.44 [[-9.73175883e-01 2.29953796e-01 -7.06766446e-03 2.82460527e+02] [-2.29947308e-01 -9.73201546e-01 -1.72828391e-03 2.28232336e+01] [-7.27568742e-03 -5.67338089e-05 9.99973530e-01 7.64421439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.362320588 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.82, Z:76.43 [[-9.71005492e-01 2.38952629e-01 -7.06935324e-03 2.82449856e+02] [-2.38946430e-01 -9.71031225e-01 -1.72134834e-03 2.28209775e+01] [-7.27588345e-03 1.77580286e-05 9.99973530e-01 7.64282685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.44, Y:22.82, Z:76.43 [[-9.70111858e-01 2.42555123e-01 -7.07081225e-03 2.82436513e+02] [-2.42549062e-01 -9.70137624e-01 -1.71533412e-03 2.28182577e+01] [-7.27572407e-03 5.09529092e-05 9.99973530e-01 7.64304482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:22.82, Z:76.43 [[-9.70048352e-01 2.42808929e-01 -7.07244876e-03 2.82431943e+02] [-2.42802925e-01 -9.70074131e-01 -1.70855992e-03 2.28164512e+01] [-7.27565319e-03 5.98255152e-05 9.99973530e-01 7.64315949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.81, Z:76.43 [[-9.69711470e-01 2.44150818e-01 -7.07407189e-03 2.82424363e+02] [-2.44144899e-01 -9.69737270e-01 -1.70181289e-03 2.28140053e+01] [-7.27549017e-03 7.68310860e-05 9.99973530e-01 7.64311738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.81, Z:76.43 [[-9.69934718e-01 2.43262363e-01 -7.07566187e-03 2.82420773e+02] [-2.43256469e-01 -9.69960523e-01 -1.69517633e-03 2.28109609e+01] [-7.27548529e-03 7.69901437e-05 9.99973530e-01 7.64320601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.81, Z:76.43 [[-9.69965297e-01 2.43140368e-01 -7.07703110e-03 2.82421736e+02] [-2.43134513e-01 -9.69991111e-01 -1.68944064e-03 2.28086506e+01] [-7.27542848e-03 8.19717193e-05 9.99973530e-01 7.64308552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.81, Z:76.43 [[-9.69887483e-01 2.43450545e-01 -7.07839266e-03 2.82416260e+02] [-2.43444739e-01 -9.69913308e-01 -1.68371661e-03 2.28054708e+01] [-7.27532896e-03 9.01817890e-05 9.99973530e-01 7.64317837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:22.80, Z:76.43 [[-9.69551135e-01 2.44786613e-01 -7.07887983e-03 2.82408130e+02] [-2.44780858e-01 -9.69576971e-01 -1.68166589e-03 2.28043224e+01] [-7.27516817e-03 1.02313208e-04 9.99973530e-01 7.64339376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:22.80, Z:76.43 [[-9.69396731e-01 2.45397320e-01 -7.08041847e-03 2.82407407e+02] [-2.45391629e-01 -9.69422582e-01 -1.67516251e-03 2.27990802e+01] [-7.27499795e-03 1.13578359e-04 9.99973530e-01 7.64325457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:22.80, Z:76.43 [[-9.69968617e-01 2.43126985e-01 -7.08174515e-03 2.82405749e+02] [-2.43121275e-01 -9.69994463e-01 -1.66953510e-03 2.27975537e+01] [-7.27516262e-03 1.02326252e-04 9.99973530e-01 7.64297215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.79, Z:76.43 [[-9.71130660e-01 2.38443009e-01 -7.08326180e-03 2.82415329e+02] [-2.38437220e-01 -9.71156489e-01 -1.66307548e-03 2.27865305e+01] [-7.27550438e-03 7.38496698e-05 9.99973530e-01 7.64330354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.78, Z:76.43 [[-9.71571776e-01 2.36639154e-01 -7.08478457e-03 2.82416514e+02] [-2.36633365e-01 -9.71597605e-01 -1.65656290e-03 2.27848679e+01] [-7.27556736e-03 6.70266540e-05 9.99973530e-01 7.64328509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:22.78, Z:76.43 [[-9.71791601e-01 2.35734740e-01 -7.08631718e-03 2.82414578e+02] [-2.35728976e-01 -9.71817435e-01 -1.64998065e-03 2.27843560e+01] [-7.27556435e-03 6.70129567e-05 9.99973530e-01 7.64328326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:22.78, Z:76.43 [[-9.71903015e-01 2.35274929e-01 -7.08784676e-03 2.82412921e+02] [-2.35269200e-01 -9.71928857e-01 -1.64338365e-03 2.27828277e+01] [-7.27552977e-03 7.03425093e-05 9.99973531e-01 7.64340217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.40, Y:22.78, Z:76.44 [[-9.71249903e-01 2.37956650e-01 -7.08937019e-03 2.82400511e+02] [-2.37951041e-01 -9.71275771e-01 -1.63678525e-03 2.27778513e+01] [-7.27521743e-03 9.71955059e-05 9.99973531e-01 7.64355335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:21.41, Z:76.71 [[-9.74129410e-01 -3.32871421e-02 -2.23525969e-01 2.82702674e+02] [-2.18263442e-01 -1.17859592e-01 9.68746709e-01 2.14147791e+01] [-5.85914889e-02 9.92472208e-01 1.07545129e-01 7.67061124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.78, Z:76.45 [[-9.70088110e-01 2.31550806e-01 -7.28922667e-02 2.82417974e+02] [-2.30986265e-01 -9.72822164e-01 -1.61982487e-02 2.27752409e+01] [-7.46619301e-02 1.12338390e-03 9.97208270e-01 7.64478411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.77, Z:76.45 [[-9.70286758e-01 2.30712351e-01 -7.29069150e-02 2.82417772e+02] [-2.30150420e-01 -9.73021347e-01 -1.61320482e-02 2.27734004e+01] [-7.46618474e-02 1.12684435e-03 9.97208273e-01 7.64491528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.77, Z:76.45 [[-9.70650574e-01 2.29172240e-01 -7.29215203e-02 2.82422371e+02] [-2.28610948e-01 -9.73385292e-01 -1.60657561e-02 2.27697696e+01] [-7.46625606e-02 1.07642256e-03 9.97208275e-01 7.64486414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.77, Z:76.45 [[-9.71074040e-01 2.27366808e-01 -7.29351988e-02 2.82422186e+02] [-2.26805113e-01 -9.73808673e-01 -1.60034177e-02 2.27681824e+01] [-7.46635751e-02 1.00157249e-03 9.97208277e-01 7.64486094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.77, Z:76.45 [[-9.71482578e-01 2.25610713e-01 -7.29479690e-02 2.82422647e+02] [-2.25048460e-01 -9.74217095e-01 -1.59449947e-02 2.27690734e+01] [-7.46645201e-02 9.26543518e-04 9.97208279e-01 7.64508855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:22.77, Z:76.45 [[-9.72262406e-01 2.22221221e-01 -7.29626166e-02 2.82426417e+02] [-2.21654485e-01 -9.74995994e-01 -1.58776854e-02 2.27681030e+01] [-7.46666176e-02 7.35214619e-04 9.97208281e-01 7.64504224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.44, Y:22.77, Z:76.45 [[-9.73507606e-01 2.16695564e-01 -7.29792636e-02 2.82435075e+02] [-2.16119075e-01 -9.76239151e-01 -1.58007992e-02 2.27698744e+01] [-7.46691774e-02 3.90012729e-04 9.97208284e-01 7.64533002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.45, Y:22.77, Z:76.45 [[-9.75312582e-01 2.08415991e-01 -7.29941268e-02 2.82447580e+02] [-2.07821474e-01 -9.78040257e-01 -1.57318363e-02 2.27698978e+01] [-7.46699608e-02 -1.73710824e-04 9.97208287e-01 7.64533345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.44, Y:22.76, Z:76.45 [[-9.76864541e-01 2.01010734e-01 -7.30092638e-02 2.82436833e+02] [-2.00400812e-01 -9.79588811e-01 -1.56612720e-02 2.27634992e+01] [-7.46671417e-02 -6.67825563e-04 9.97208289e-01 7.64532722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:22.76, Z:76.45 [[-9.77982269e-01 1.95494552e-01 -7.30243892e-02 2.82430145e+02] [-1.94874554e-01 -9.80704261e-01 -1.55904264e-02 2.27563745e+01] [-7.46631731e-02 -1.01656528e-03 9.97208292e-01 7.64525947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.75, Z:76.45 [[-9.78752645e-01 1.91594698e-01 -7.30392411e-02 2.82422277e+02] [-1.90969069e-01 -9.81473345e-01 -1.55205348e-02 2.27500550e+01] [-7.46597205e-02 -1.24252862e-03 9.97208294e-01 7.64536279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.75, Z:76.45 [[-9.78702557e-01 1.91844830e-01 -7.30538574e-02 2.82423720e+02] [-1.91225052e-01 -9.81424594e-01 -1.54514304e-02 2.27453698e+01] [-7.46611293e-02 -1.15262674e-03 9.97208297e-01 7.64543012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:22.74, Z:76.45 [[-9.78562134e-01 1.92554274e-01 -7.30684668e-02 2.82424339e+02] [-1.91941650e-01 -9.81285787e-01 -1.53820329e-02 2.27387955e+01] [-7.46629242e-02 -1.02739291e-03 9.97208299e-01 7.64534182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:22.74, Z:76.45 [[-9.78331431e-01 1.93718275e-01 -7.30810583e-02 2.82426821e+02] [-1.93113377e-01 -9.81056808e-01 -1.53219762e-02 2.27359139e+01] [-7.46648166e-02 -8.77040892e-04 9.97208301e-01 7.64543640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.43, Y:22.73, Z:76.45 [[-9.77933625e-01 1.95711189e-01 -7.30955220e-02 2.82430725e+02] [-1.95117024e-01 -9.80661360e-01 -1.52526623e-02 2.27319464e+01] [-7.46670707e-02 -6.53910575e-04 9.97208304e-01 7.64531400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:22.72, Z:76.45 [[-9.83298528e-01 1.66670114e-01 -7.31100387e-02 2.82411117e+02] [-1.66000635e-01 -9.86008759e-01 -1.51827608e-02 2.27231829e+01] [-7.46176510e-02 -2.79287351e-03 9.97208306e-01 7.64537204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.40, Y:22.72, Z:76.45 [[-9.83957260e-01 1.62542557e-01 -7.35392958e-02 2.82401287e+02] [-1.62046822e-01 -9.86701365e-01 -1.26981887e-02 2.27162838e+01] [-7.46253196e-02 -5.77665791e-04 9.97211476e-01 7.64515285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.40, Y:22.72, Z:76.45 [[-9.83774131e-01 1.63615700e-01 -7.36095231e-02 2.82400904e+02] [-1.63154445e-01 -9.86524150e-01 -1.22771727e-02 2.27162915e+01] [-7.46263104e-02 -6.82440303e-05 9.97211567e-01 7.64524047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.59, Y:21.24, Z:77.07 [[-9.74115807e-01 1.75815477e-01 1.42082062e-01 2.82590184e+02] [-1.77362064e-01 -2.04771984e-01 -9.62606427e-01 2.12375992e+01] [-1.40146683e-01 -9.62890104e-01 2.30654622e-01 7.70735477e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 341.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.00, Y:19.31, Z:76.53 [[-9.59214134e-01 2.44681322e-01 1.41560223e-01 2.82996854e+02] [-1.91600638e-01 -1.94562429e-01 -9.61995144e-01 1.93053173e+01] [-2.07839942e-01 -9.49882368e-01 2.33508129e-01 7.65276044e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 341.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.33, Y:18.87, Z:75.38 [[-9.59776299e-01 1.90353386e-01 -2.06385670e-01 2.83326376e+02] [-1.85808147e-01 -9.81714694e-01 -4.13713808e-02 1.88736311e+01] [-2.10487028e-01 -1.35913170e-03 9.77595706e-01 7.53817230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.32, Y:18.87, Z:75.38 [[-9.60309992e-01 1.87585244e-01 -2.06437629e-01 2.83318891e+02] [-1.83032838e-01 -9.82246866e-01 -4.11105064e-02 1.88706258e+01] [-2.10484439e-01 -1.69396496e-03 9.77595740e-01 7.53790193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.32, Y:18.87, Z:75.38 [[-9.60738277e-01 1.85322279e-01 -2.06488779e-01 2.83315164e+02] [-1.80773749e-01 -9.82675921e-01 -4.08520054e-02 1.88687529e+01] [-2.10482338e-01 -1.92033464e-03 9.77595774e-01 7.53780515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:18.86, Z:75.38 [[-9.61302757e-01 1.82314283e-01 -2.06539370e-01 2.83307690e+02] [-1.77752392e-01 -9.83237592e-01 -4.05946435e-02 1.88629832e+01] [-2.10478256e-01 -2.31087567e-03 9.77595808e-01 7.53772040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.95, Y:19.30, Z:76.47 [[-9.76281171e-01 1.73107363e-01 1.30034290e-01 2.82949230e+02] [-1.69211279e-01 -2.35388217e-01 -9.57057956e-01 1.93009894e+01] [-1.35065240e-01 -9.56360930e-01 2.59096802e-01 7.64670322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.34, Y:17.35, Z:76.01 [[-9.56365032e-01 2.61948320e-01 1.29417938e-01 2.83339314e+02] [-1.90250146e-01 -2.22141999e-01 -9.56272877e-01 1.73481278e+01] [-2.21744914e-01 -9.39167722e-01 2.62284546e-01 7.60054095e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 341.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.80, Y:15.41, Z:75.57 [[-9.27984882e-01 3.49959234e-01 1.27955438e-01 2.83803733e+02] [-2.10389982e-01 -2.08682544e-01 -9.55085154e-01 1.54077167e+01] [-3.07538803e-01 -9.13225126e-01 2.67282163e-01 7.55697758e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 341.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.35, Y:13.48, Z:75.17 [[-8.91663477e-01 4.35067437e-01 1.25110227e-01 2.84346662e+02] [-2.29342228e-01 -1.95857883e-01 -9.53436853e-01 1.34821649e+01] [-3.90305503e-01 -8.78837878e-01 2.74418657e-01 7.51722718e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 342.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.90, Y:13.09, Z:74.17 [[-8.89539566e-01 2.41859371e-01 -3.87586643e-01 2.84896366e+02] [-2.19692212e-01 -9.70298769e-01 -1.01270094e-01 1.30889823e+01] [-4.00567963e-01 -4.93398827e-03 9.16253765e-01 7.41681166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062320588 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:284.89, Y:13.09, Z:74.17 [[-8.90038279e-01 2.39536140e-01 -3.87884389e-01 2.84892643e+02] [-2.17660127e-01 -9.70876161e-01 -1.00117676e-01 1.30856853e+01] [-4.00569508e-01 -4.68159844e-03 9.16254414e-01 7.41654932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122320588 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:284.85, Y:13.07, Z:74.15 [[-8.95758927e-01 2.16580817e-01 -3.88212176e-01 2.84853913e+02] [-1.93190691e-01 -9.76170929e-01 -9.88315502e-02 1.30722179e+01] [-4.00366459e-01 -1.35302649e-02 9.16255221e-01 7.41481533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.182320588 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:284.85, Y:11.53, Z:74.83 [[-8.58963983e-01 5.07171253e-01 7.04144566e-02 2.84853021e+02] [-2.19284444e-01 -2.40095359e-01 -9.45657735e-01 1.15328455e+01] [-4.62704234e-01 -8.27726729e-01 3.17448033e-01 7.48336998e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 342.242320588 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:284.84, Y:11.53, Z:74.80 [[-8.90852417e-01 4.49901019e-01 6.30162222e-02 2.84835411e+02] [-2.01852705e-01 -2.67731376e-01 -9.42112199e-01 1.15261846e+01] [-4.06985819e-01 -8.52002924e-01 3.29322881e-01 7.47969503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.302320588 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:284.82, Y:11.52, Z:74.76 [[-9.18022831e-01 3.92462587e-01 5.66321500e-02 2.84818535e+02] [-1.83293634e-01 -2.93357031e-01 -9.38267071e-01 1.15206540e+01] [-3.51621282e-01 -8.71730905e-01 3.41244345e-01 7.47629717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.362320588 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:285.24, Y:11.06, Z:73.79 [[-9.22628294e-01 1.71886328e-01 -3.45271083e-01 2.85235098e+02] [-1.57693041e-01 -9.85073571e-01 -6.90142287e-02 1.10597413e+01] [-3.51980021e-01 -9.22763287e-03 9.35962027e-01 7.37895435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42232058799993 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:285.20, Y:9.53, Z:74.47 [[-8.94851792e-01 4.43879415e-01 4.70248312e-02 2.85201517e+02] [-1.75103408e-01 -2.52180650e-01 -9.51705688e-01 9.53122492e+00] [-4.10583812e-01 -8.59869749e-01 3.03389105e-01 7.44672695e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 342.48232058799994 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:9.08, Z:73.48 [[-9.05933315e-01 1.32162276e-01 -4.02266034e-01 2.85694421e+02] [-1.09655448e-01 -9.90857970e-01 -7.85885923e-02 9.08353324e+00] [-4.08974953e-01 -2.70853619e-02 9.12143558e-01 7.34804768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54232058799994 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:285.65, Y:7.62, Z:73.89 [[-8.77017173e-01 4.71283028e-01 9.34515159e-02 2.85647445e+02] [-1.08448953e-01 -4.69418436e-03 -9.94090936e-01 7.61910690e+00] [-4.68059508e-01 -8.81969541e-01 5.52270313e-02 7.38881321e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 342.60232058799994 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:285.62, Y:7.62, Z:73.86 [[-9.07174951e-01 4.10565316e-01 9.20311301e-02 2.85621752e+02] [-1.07676202e-01 -1.50904889e-02 -9.94071483e-01 7.61568277e+00] [-4.06742478e-01 -9.11706312e-01 5.78978275e-02 7.38645353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66232058799994 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:286.17, Y:5.80, Z:73.06 [[-8.77650035e-01 4.70572032e-01 9.10624966e-02 2.86165314e+02] [-1.08606593e-01 -1.01992893e-02 -9.94032486e-01 5.79957909e+00] [-4.66835114e-01 -8.82302634e-01 6.00586318e-02 7.30591059e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 342.72232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:286.76, Y:3.98, Z:72.28 [[-8.41045737e-01 5.33486212e-01 8.96355412e-02 2.86761919e+02] [-1.09277847e-01 -5.26758239e-03 -9.93997286e-01 3.98470221e+00] [-5.29811684e-01 -8.45792359e-01 6.27285023e-02 7.22753819e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 342.78232058799995 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:286.79, Y:4.03, Z:72.15 [[-8.77318289e-01 4.79393066e-01 2.22465461e-02 2.86788174e+02] [-9.93689022e-02 -1.36109153e-01 -9.85697783e-01 4.03263900e+00] [-4.69508724e-01 -8.66981307e-01 1.67047812e-01 7.21451857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.76, Y:4.03, Z:72.11 [[-9.09904278e-01 4.14433059e-01 1.78730336e-02 2.86760638e+02] [-8.84889507e-02 -1.51825670e-01 -9.84438252e-01 4.03117512e+00] [-4.05270171e-01 -8.97326142e-01 1.74819573e-01 7.21106905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.18, Y:2.09, Z:71.52 [[-8.66496016e-01 4.98965802e-01 1.47574758e-02 2.87184556e+02] [-1.03085521e-01 -1.49934245e-01 -9.83307224e-01 2.09249048e+00] [-4.88424026e-01 -8.53553075e-01 1.81353575e-01 7.15173134e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 342.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.69, Y:0.16, Z:70.98 [[-8.11626368e-01 5.84100238e-01 9.46315842e-03 2.87685834e+02] [-1.18583265e-01 -1.48870211e-01 -9.81720770e-01 1.55173663e-01] [-5.72014552e-01 -7.97912635e-01 1.90091502e-01 7.09766873e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.02232058799996 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:288.26, Y:-1.78, Z:70.51 [[-7.45410024e-01 6.66604254e-01 -1.63222470e-03 2.88263071e+02] [-1.35229584e-01 -1.53613128e-01 -9.78833983e-01 -1.78310967e+00] [-6.52745628e-01 -7.29411938e-01 2.04649382e-01 7.05132362e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.97, Y:-3.68, Z:70.07 [[-6.69241813e-01 7.41003685e-01 5.50357585e-02 2.88968165e+02] [-1.43774772e-01 -5.64705348e-02 -9.87997922e-01 -3.68355747e+00] [-7.29002202e-01 -6.69122274e-01 1.44330079e-01 7.00680877e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.95, Y:-3.69, Z:70.03 [[-7.17326998e-01 6.94710431e-01 5.30979768e-02 2.88953917e+02] [-1.39453021e-01 -6.84892434e-02 -9.87857317e-01 -3.68884447e+00] [-6.82638142e-01 -7.16021397e-01 1.46008652e-01 7.00308185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.73, Y:-5.56, Z:69.57 [[-6.40736333e-01 7.66946149e-01 3.53632069e-02 2.89728379e+02] [-1.47944863e-01 -7.81396780e-02 -9.85903904e-01 -5.56049132e+00] [-7.53371933e-01 -6.36936257e-01 1.63532673e-01 6.95740814e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.70, Y:-5.57, Z:69.55 [[-6.87665081e-01 7.24481526e-01 4.73630098e-02 2.89704862e+02] [-1.43954251e-01 -7.21167373e-02 -9.86953064e-01 -5.57108670e+00] [-7.11613596e-01 -6.85511265e-01 1.53884357e-01 6.95542077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.41, Y:-7.50, Z:69.23 [[-6.21778846e-01 7.79921395e-01 -7.15100228e-02 2.90413810e+02] [-1.61684424e-01 -2.17164423e-01 -9.62651422e-01 -7.49718328e+00] [-7.66321873e-01 -5.86994234e-01 2.61129386e-01 6.92305056e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.20, Y:-9.41, Z:68.96 [[-5.56274498e-01 8.28374921e-01 6.59823632e-02 2.91203720e+02] [-1.66227120e-01 -3.31253952e-02 -9.85530950e-01 -9.40695730e+00] [-8.14203431e-01 -5.59193793e-01 1.56125190e-01 6.89624045e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:-11.23, Z:68.62 [[-4.89655619e-01 8.68169317e-01 8.07428709e-02 2.92186998e+02] [-1.67040318e-01 -2.51569654e-03 -9.85946856e-01 -1.12277317e+01] [-8.55765684e-01 -4.96261733e-01 1.46251104e-01 6.86213651e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.21, Y:-13.04, Z:68.35 [[-4.21812073e-01 9.05242060e-01 5.11017343e-02 2.93211434e+02] [-1.69148726e-01 -2.31954966e-02 -9.85317552e-01 -1.30444719e+01] [-8.90765560e-01 -4.24262632e-01 1.62904682e-01 6.83527481e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.14, Y:-13.09, Z:68.35 [[-4.81931555e-01 8.67934725e-01 1.20130305e-01 2.93141878e+02] [-1.72569324e-01 4.03969051e-02 -9.84168643e-01 -1.30919823e+01] [-8.59047033e-01 -4.95032730e-01 1.30310365e-01 6.83534956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.26, Y:-13.19, Z:67.71 [[-4.85176708e-01 3.29674009e-01 -8.09888023e-01 2.94258723e+02] [-1.54621200e-01 -9.43954782e-01 -2.91619022e-01 -1.31912938e+01] [-8.60636884e-01 -1.62608987e-02 5.08959464e-01 6.77125657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.20, Y:-14.90, Z:68.02 [[-4.20248924e-01 9.06282339e-01 4.52013684e-02 2.94199855e+02] [-1.60432630e-01 -2.51801163e-02 -9.86725561e-01 -1.48966358e+01] [-8.93113774e-01 -4.21922130e-01 1.55979176e-01 6.80188013e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.28, Y:-15.01, Z:67.48 [[-4.28353698e-01 3.45668192e-01 -8.34881195e-01 2.95284985e+02] [-1.30648944e-01 -9.37922293e-01 -3.21298344e-01 -1.50101988e+01] [-8.94116302e-01 -2.85529870e-02 4.46923668e-01 6.74803330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.24, Y:-16.73, Z:67.72 [[-3.59522474e-01 9.31591764e-01 5.36691257e-02 2.95242299e+02] [-1.34073641e-01 5.34709094e-03 -9.90956945e-01 -1.67323748e+01] [-9.23454303e-01 -3.63466908e-01 1.22979500e-01 6.77153374e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.39, Y:-16.82, Z:67.24 [[-3.66465871e-01 3.41249845e-01 -8.65593038e-01 2.96386778e+02] [-1.01486313e-01 -9.39423285e-01 -3.27390319e-01 -1.68175444e+01] [-9.24880151e-01 -3.21315326e-02 3.78898761e-01 6.72386845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.27, Y:-18.59, Z:67.45 [[-2.92506133e-01 9.56022300e-01 -2.14830942e-02 2.96272800e+02] [-1.12358339e-01 -5.66700344e-02 -9.92050458e-01 -1.85865416e+01] [-9.49639809e-01 -2.87767038e-01 1.23993410e-01 6.74485543e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 343.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.38, Y:-18.69, Z:67.08 [[-3.02999096e-01 3.53353061e-01 -8.85061106e-01 2.97381018e+02] [-6.62245848e-02 -9.34281437e-01 -3.50331987e-01 -1.86870291e+01] [-9.50687042e-01 -4.75374712e-02 3.06487091e-01 6.70762057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.18, Y:-18.65, Z:67.41 [[-3.75671137e-01 9.24730475e-01 6.11943234e-02 2.96179689e+02] [-7.90094258e-02 3.38329043e-02 -9.96299576e-01 -1.86518213e+01] [-9.23378962e-01 -3.79115923e-01 6.03523782e-02 6.74064317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.45, Y:-18.82, Z:66.87 [[-3.72066684e-01 1.95640062e-01 -9.07354037e-01 2.97453414e+02] [-3.69342102e-02 -9.79881475e-01 -1.96133015e-01 -1.88170518e+01] [-9.27470887e-01 -3.94621559e-02 3.71807062e-01 6.68653269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.33, Y:-20.40, Z:66.96 [[-2.92841407e-01 9.49568338e-01 1.12088722e-01 2.97332514e+02] [-4.25301037e-02 1.04176054e-01 -9.93649103e-01 -2.03996660e+01] [-9.55214688e-01 -2.95748747e-01 9.87817767e-03 6.69606882e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 344.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.44, Y:-20.32, Z:66.89 [[-3.56183064e-01 9.34383384e-01 -7.83051733e-03 2.97443698e+02] [-3.93631492e-02 -2.33766935e-02 -9.98951487e-01 -2.03242874e+01] [-9.33586722e-01 -3.55501367e-01 4.51066548e-02 6.68886770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.31, Y:-20.43, Z:66.91 [[-4.16129332e-01 -8.97139513e-01 -1.48246665e-01 2.97307544e+02] [-5.07435146e-02 -1.39867529e-01 9.88869137e-01 -2.04260022e+01] [-9.07888471e-01 4.19020010e-01 1.26789695e-02 6.69075673e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 344.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.28, Y:-20.43, Z:66.89 [[-3.57653930e-01 -9.22823626e-01 -1.43109124e-01 2.97277884e+02] [-4.20887526e-02 -1.37160919e-01 9.89654192e-01 -2.04340919e+01] [-9.32905249e-01 3.59976995e-01 1.02156465e-02 6.68857113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.25, Y:-20.44, Z:66.86 [[-2.98150957e-01 -9.44194360e-01 -1.40010776e-01 2.97254527e+02] [-3.35053908e-02 -1.36239212e-01 9.90109219e-01 -2.04374011e+01] [-9.53930498e-01 2.99893127e-01 8.98425039e-03 6.68638467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.96, Y:-18.77, Z:67.18 [[-3.62577517e-01 -9.22921556e-01 -1.29434713e-01 2.95956251e+02] [-4.20673560e-02 -1.22536064e-01 9.91572111e-01 -1.87731517e+01] [-9.31003696e-01 3.64966730e-01 5.60395206e-03 6.71757918e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 344.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.82, Y:-18.86, Z:67.18 [[-3.00798463e-01 9.53684247e-01 2.57730477e-03 2.95819726e+02] [-4.26967370e-02 -1.07669891e-02 -9.99030060e-01 -1.88569772e+01] [-9.52731480e-01 -3.00616749e-01 4.39578992e-02 6.71848819e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 344.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.05, Y:-20.55, Z:66.82 [[-2.45049224e-01 -9.44574505e-01 -2.18471697e-01 2.97051525e+02] [-2.88949649e-02 -2.18126616e-01 9.75492624e-01 -2.05504567e+01] [-9.69079955e-01 2.45356443e-01 2.61583109e-02 6.68243497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.43, Y:-19.22, Z:67.15 [[-2.94204780e-01 -8.43763280e-01 -4.48895394e-01 2.95426388e+02] [-5.64953538e-02 -4.53507827e-01 8.89459907e-01 -1.92205912e+01] [-9.54071183e-01 2.87043860e-01 8.57554653e-02 6.71508310e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 344.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.36, Y:-19.30, Z:67.14 [[-2.33536339e-01 -8.97440774e-01 -3.74247025e-01 2.95359781e+02] [-3.03088633e-02 -3.77984227e-01 9.25315782e-01 -1.93009480e+01] [-9.71875584e-01 2.27437862e-01 6.10726428e-02 6.71370473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.72, Y:-17.95, Z:67.46 [[-2.88634480e-01 -9.13840154e-01 -2.85633174e-01 2.93723191e+02] [-4.69150682e-02 -2.84472726e-01 9.57535506e-01 -1.79542714e+01] [-9.56289241e-01 2.89778263e-01 3.92357642e-02 6.74553823e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 344.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.45, Y:-16.29, Z:67.71 [[-3.45420500e-01 9.36332224e-01 -6.29813019e-02 2.92449327e+02] [-4.06594186e-02 -8.19811988e-02 -9.95804145e-01 -1.62863475e+01] [-9.37566792e-01 -3.41410382e-01 6.63887106e-02 6.77128851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.44, Y:-16.29, Z:67.68 [[-4.08158916e-01 9.11074748e-01 -5.78714320e-02 2.92443715e+02] [-3.53503541e-02 -7.91178753e-02 -9.96238282e-01 -1.62890846e+01] [-9.12226206e-01 -4.04577762e-01 6.44994812e-02 6.76775772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.49, Y:-16.26, Z:67.62 [[-4.68580758e-01 8.76142600e-01 -1.13164560e-01 2.92493562e+02] [-2.60928180e-02 -1.41768306e-01 -9.89555917e-01 -1.62608903e+01] [-8.83035242e-01 -4.60734079e-01 8.92909298e-02 6.76168573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.38, Y:-16.33, Z:67.64 [[-5.27864801e-01 8.49327230e-01 1.41693212e-03 2.92376973e+02] [-2.45768374e-02 -1.36070928e-02 -9.99605335e-01 -1.63278230e+01] [-8.48972750e-01 -5.27691295e-01 2.80564825e-02 6.76402402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.32, Y:-18.18, Z:67.06 [[-4.77703439e-01 8.78503268e-01 -5.60638126e-03 2.93315640e+02] [-2.58438299e-02 -2.04313690e-02 -9.99457180e-01 -1.81844885e+01] [-8.78140946e-01 -4.77299242e-01 3.24640243e-02 6.70610866e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.30, Y:-18.19, Z:67.02 [[-5.35550314e-01 8.44489842e-01 -4.77152762e-03 2.93303505e+02] [-2.44739402e-02 -2.11678749e-02 -9.99476337e-01 -1.81852075e+01] [-8.44148617e-01 -5.35153088e-01 3.20044560e-02 6.70159547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.22, Y:-20.06, Z:66.43 [[-4.91676617e-01 8.70663525e-01 -1.41113894e-02 2.94218086e+02] [-2.61638736e-02 -3.09694291e-02 -9.99177835e-01 -2.00557225e+01] [-8.70384718e-01 -4.90903169e-01 3.80068745e-02 6.64314675e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.14, Y:-21.94, Z:65.89 [[-4.54517838e-01 8.90432724e-01 -2.33044908e-02 2.95139130e+02] [-2.80060421e-02 -4.04359891e-02 -9.98789564e-01 -2.19395213e+01] [-8.90297252e-01 -4.53315006e-01 4.33163747e-02 6.58907602e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.09, Y:-21.97, Z:65.87 [[-5.12312497e-01 8.58477827e-01 2.34888391e-02 2.95086396e+02] [-2.79580678e-02 1.06642865e-02 -9.99552209e-01 -2.19702565e+01] [-8.58343901e-01 -5.12739791e-01 1.85379341e-02 6.58703700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.08, Y:-21.97, Z:65.83 [[-5.68538702e-01 8.22429262e-01 1.93352856e-02 2.95078319e+02] [-2.83660341e-02 3.89111942e-03 -9.99590030e-01 -2.19692592e+01] [-8.22167326e-01 -5.68854083e-01 2.11168045e-02 6.58263967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.00, Y:-23.81, Z:65.16 [[-5.45406046e-01 8.38027804e-01 1.55448892e-02 2.96002973e+02] [-2.84625922e-02 1.78053436e-05 -9.99594858e-01 -2.38113333e+01] [-8.37688561e-01 -5.45627527e-01 2.38427325e-02 6.51643029e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.99, Y:-23.81, Z:65.11 [[-5.97952303e-01 8.01472545e-01 9.73666784e-03 2.95988570e+02] [-2.81083452e-02 -8.82751202e-03 -9.99565904e-01 -2.38069563e+01] [-8.01038679e-01 -5.97966416e-01 2.78064981e-02 6.51107207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.87, Y:-25.67, Z:64.43 [[-5.85344257e-01 8.10776592e-01 3.66309740e-03 2.96868247e+02] [-2.85632372e-02 -1.61057923e-02 -9.99462228e-01 -2.56660913e+01] [-8.10281582e-01 -5.85134105e-01 3.25858372e-02 6.44295032e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:-27.53, Z:63.77 [[-5.72148082e-01 8.20149694e-01 -1.02537920e-03 2.97752269e+02] [-2.90719928e-02 -2.15304512e-02 -9.99345415e-01 -2.75306292e+01] [-8.19634914e-01 -5.71743753e-01 3.61619924e-02 6.37717070e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.63, Y:-29.41, Z:63.13 [[-5.58238760e-01 8.29615023e-01 -1.04115779e-02 2.98634046e+02] [-2.99228097e-02 -3.26722951e-02 -9.99018091e-01 -2.94058784e+01] [-8.29140587e-01 -5.57379076e-01 4.30633539e-02 6.31349357e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.63, Y:-29.40, Z:63.08 [[-6.12979695e-01 7.89775219e-01 -2.26052408e-02 2.98629548e+02] [-2.70249433e-02 -4.95520059e-02 -9.98405855e-01 -2.93993596e+01] [-7.89636338e-01 -6.11391611e-01 5.17180040e-02 6.30845096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.44, Y:-31.30, Z:62.43 [[-6.01553612e-01 7.98258245e-01 -3.02824276e-02 2.99438854e+02] [-2.81392512e-02 -5.90596144e-02 -9.97857778e-01 -3.13047900e+01] [-7.98336667e-01 -5.99412826e-01 5.79899137e-02 6.24276930e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.25, Y:-33.22, Z:61.80 [[-5.90225891e-01 8.06208511e-01 -4.07582381e-02 3.00248549e+02] [-2.95259990e-02 -7.20180873e-02 -9.96966203e-01 -3.32222687e+01] [-8.06697969e-01 -5.87231838e-01 6.63110515e-02 6.17982222e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.05, Y:-35.16, Z:61.19 [[-5.78461945e-01 8.13975414e-01 -5.31582875e-02 3.01051764e+02] [-3.12147233e-02 -8.72093678e-02 -9.95700842e-01 -3.51602678e+01] [-8.15111906e-01 -5.74315725e-01 7.58553178e-02 6.11912279e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 345.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.06, Y:-35.16, Z:61.14 [[-6.34780891e-01 7.69259708e-01 -7.27510941e-02 3.01057141e+02] [-2.38554913e-02 -1.13618536e-01 -9.93238010e-01 -3.51557498e+01] [-7.72323854e-01 -6.28752996e-01 9.04739438e-02 6.11438373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.78, Y:-37.13, Z:60.53 [[-6.18747428e-01 7.81230113e-01 -8.26506493e-02 3.01776787e+02] [-2.67841762e-02 -1.26125925e-01 -9.91652590e-01 -3.71297722e+01] [-7.85133255e-01 -6.11368760e-01 9.89646967e-02 6.05308764e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.78, Y:-37.12, Z:60.49 [[-6.72188321e-01 7.34284094e-01 -9.48141884e-02 3.01776490e+02] [-1.70923865e-02 -1.43417692e-01 -9.89514637e-01 -3.71246934e+01] [-7.40182891e-01 -6.63519581e-01 1.08954365e-01 6.04906632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.42, Y:-39.13, Z:59.87 [[-6.51277813e-01 7.51196412e-01 -1.07429797e-01 3.02419623e+02] [-2.19892167e-02 -1.60194021e-01 -9.86840590e-01 -3.91316600e+01] [-7.58520721e-01 -6.40345084e-01 1.20849032e-01 5.98736339e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.25, Y:-39.26, Z:59.99 [[-7.02440781e-01 -7.09285823e-01 -5.90810575e-02 3.02247445e+02] [-2.21412854e-02 -6.11923783e-02 9.97880382e-01 -3.92568419e+01] [-7.11397718e-01 7.02260005e-01 2.72795221e-02 5.99861551e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.10, Y:-37.70, Z:60.99 [[-7.23971786e-01 -6.40070105e-01 -2.57245241e-01 3.01097560e+02] [-3.82495414e-02 -3.35090559e-01 9.41409204e-01 -3.77023469e+01] [-6.88768340e-01 6.91393216e-01 2.18113723e-01 6.09916252e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.83, Y:-36.34, Z:62.17 [[-7.46398823e-01 -6.20632885e-01 -2.40215776e-01 2.99829809e+02] [-4.87413457e-02 -3.09005493e-01 9.49810448e-01 -3.63411953e+01] [-6.63711593e-01 7.20645840e-01 2.00390854e-01 6.21713878e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.79, Y:-36.36, Z:62.16 [[-7.02762221e-01 -6.73187516e-01 -2.30095260e-01 2.99790066e+02] [-2.86254145e-02 -2.96409811e-01 9.54631766e-01 -3.63601495e+01] [-7.10848680e-01 6.77465713e-01 1.89035345e-01 6.21612139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.46, Y:-36.68, Z:62.44 [[-6.54531064e-01 7.47570810e-01 -1.12813875e-01 2.99457218e+02] [-3.27079554e-02 -1.77077682e-01 -9.83653234e-01 -3.66784866e+01] [-7.55327264e-01 -6.40141687e-01 1.40354356e-01 6.24356891e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.28, Y:-36.81, Z:62.56 [[-7.05122154e-01 -7.06552386e-01 -5.98871781e-02 2.99281371e+02] [-3.23625407e-02 -5.23022140e-02 9.98106780e-01 -3.68104087e+01] [-7.08346959e-01 7.05725304e-01 1.40136195e-02 6.25551836e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.26, Y:-36.81, Z:62.55 [[-6.51537977e-01 -7.56322518e-01 -5.89450054e-02 2.99261752e+02] [-2.85241931e-02 -5.32218054e-02 9.98175240e-01 -3.68147563e+01] [-7.58079570e-01 6.52030436e-01 1.31025379e-02 6.25507903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.21, Y:-35.03, Z:63.34 [[-6.89521200e-01 -7.21963929e-01 -5.76940238e-02 2.98212142e+02] [-3.11174694e-02 -5.00545428e-02 9.98261612e-01 -3.50308339e+01] [-7.23596724e-01 6.90117836e-01 1.20479779e-02 6.33427838e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.21, Y:-33.24, Z:64.18 [[-7.32243932e-01 -6.78717864e-01 -5.62217483e-02 2.97211529e+02] [-3.39752452e-02 -4.60448440e-02 9.98361435e-01 -3.32439439e+01] [-6.80194462e-01 7.32954250e-01 1.06564518e-02 6.41836061e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 346.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.18, Y:-33.25, Z:64.17 [[-6.82388934e-01 -7.28869109e-01 -5.56341993e-02 2.97179902e+02] [-3.06924173e-02 -4.74722668e-02 9.98400901e-01 -3.32461449e+01] [-7.30344657e-01 6.83005275e-01 1.00237947e-02 6.41730904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.15, Y:-33.25, Z:64.16 [[-6.28978758e-01 -7.75483311e-01 -5.48758300e-02 2.97145173e+02] [-2.73237258e-02 -4.84919741e-02 9.98449770e-01 -3.32466652e+01] [-7.76942170e-01 6.29503108e-01 9.31132828e-03 6.41597511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.11, Y:-33.25, Z:64.14 [[-5.73859240e-01 -8.17169089e-01 -5.40393689e-02 2.97113770e+02] [-2.39851705e-02 -4.91872270e-02 9.98501541e-01 -3.32472286e+01] [-8.18602642e-01 5.74295479e-01 8.62660479e-03 6.41427308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.08, Y:-33.25, Z:64.13 [[-5.16402852e-01 -8.54712183e-01 -5.28694487e-02 2.97077330e+02] [-2.06578456e-02 -4.92869167e-02 9.98571006e-01 -3.32495216e+01] [-8.56096576e-01 5.16757084e-01 7.79539197e-03 6.41277424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.12, Y:-31.35, Z:64.63 [[-5.82020976e-01 8.04021937e-01 -1.21656517e-01 2.96121637e+02] [-9.47465793e-03 -1.56301950e-01 -9.87663876e-01 -3.13537857e+01] [-8.13118574e-01 -5.73688439e-01 9.85888463e-02 6.46256631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.02, Y:-31.42, Z:64.67 [[-6.34256138e-01 7.72894892e-01 -1.87786351e-02 2.96016855e+02] [-8.15727278e-03 -3.09780775e-02 -9.99486777e-01 -3.14212546e+01] [-7.73079950e-01 -6.33777441e-01 2.59527503e-02 6.46656772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.02, Y:-31.42, Z:64.63 [[-6.83404182e-01 7.29703772e-01 -2.21614320e-02 2.96016282e+02] [-5.81611082e-03 -3.57975500e-02 -9.99342138e-01 -3.14157818e+01] [-7.30017052e-01 -6.82825703e-01 2.87082334e-02 6.46320132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.80, Y:-33.31, Z:63.87 [[-6.31759749e-01 7.74751215e-01 -2.53016933e-02 2.96798485e+02] [-8.54990902e-03 -3.96029155e-02 -9.99178917e-01 -3.33094069e+01] [-7.75117100e-01 -6.31024694e-01 3.16435804e-02 6.38739633e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 347.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.62, Y:-35.21, Z:63.18 [[-5.78521198e-01 8.15051321e-01 -3.16949138e-02 2.97621235e+02] [-1.17314241e-02 -4.71679874e-02 -9.98818079e-01 -3.52083492e+01] [-8.15582980e-01 -5.77465605e-01 3.68493933e-02 6.31849862e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 347.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.62, Y:-35.20, Z:63.14 [[-6.32374085e-01 7.73610686e-01 -4.03673577e-02 2.97619023e+02] [-7.80248406e-03 -5.84675991e-02 -9.98258815e-01 -3.52037488e+01] [-7.74623868e-01 -6.30958039e-01 4.30094795e-02 6.31437854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.40, Y:-37.13, Z:62.48 [[-5.81775818e-01 8.11866461e-01 -4.90891830e-02 2.98398875e+02] [-1.22522579e-02 -6.90953982e-02 -9.97534815e-01 -3.71259754e+01] [-8.13256897e-01 -5.79740180e-01 5.01452291e-02 6.24773790e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 347.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.20, Y:-39.06, Z:61.89 [[-5.29381835e-01 8.45894625e-01 -6.49396410e-02 2.99199568e+02] [-1.78788406e-02 -8.76515964e-02 -9.95990735e-01 -3.90642550e+01] [-8.48195272e-01 -5.26098357e-01 6.15247782e-02 6.18929847e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 347.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.21, Y:-39.06, Z:61.85 [[-5.85596883e-01 8.06793366e-01 -7.84904813e-02 2.99207547e+02] [-1.08253304e-02 -1.04604884e-01 -9.94454941e-01 -3.90557814e+01] [-8.10530137e-01 -5.81500028e-01 6.99900990e-02 6.18488912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.31, Y:-39.01, Z:61.73 [[-6.37895129e-01 7.46150385e-01 -1.90655205e-01 2.99311067e+02] [ 5.43164268e-03 -2.43199387e-01 -9.69961110e-01 -3.90059355e+01] [-7.70104085e-01 -6.19769039e-01 1.51082882e-01 6.17304144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.11, Y:-40.82, Z:61.00 [[-5.88581571e-01 -7.90226847e-01 -1.70626095e-01 3.00113848e+02] [ 2.09583686e-02 -2.25900587e-01 9.73924880e-01 -4.08225635e+01] [-8.08166122e-01 5.69658191e-01 1.49522788e-01 6.10005368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.95, Y:-40.95, Z:61.08 [[-5.31109144e-01 -8.47144278e-01 -1.64209733e-02 2.99950637e+02] [ 2.37608943e-02 -3.42637275e-02 9.99130330e-01 -4.09543837e+01] [-8.46970186e-01 5.30257078e-01 3.83266847e-02 6.10762664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.96, Y:-39.13, Z:61.71 [[-5.88994357e-01 -8.08121767e-01 -4.98567775e-03 2.98961822e+02] [ 2.22586104e-02 -2.23894333e-02 9.99501510e-01 -3.91259652e+01] [-8.07830553e-01 5.88589775e-01 3.11749175e-02 6.17059226e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 347.76232058799997 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:298.92, Y:-39.13, Z:61.69 [[-5.30814425e-01 -8.47488073e-01 -1.06603685e-04 2.98921959e+02] [ 2.33370666e-02 -1.47426437e-02 9.99618945e-01 -3.91322442e+01] [-8.47166706e-01 5.30609668e-01 2.76034936e-02 6.16874439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.09, Y:-38.93, Z:61.54 [[-4.73905354e-01 -8.46433699e-01 -2.42824440e-01 2.99094100e+02] [ 4.52563469e-02 -2.98803583e-01 9.53240936e-01 -3.89282387e+01] [-8.79412064e-01 4.40756636e-01 1.79911115e-01 6.15366073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.76, Y:-37.43, Z:62.31 [[-5.38364515e-01 -8.23759441e-01 -1.77718970e-01 2.97755112e+02] [ 2.75273346e-02 -2.27967035e-01 9.73279650e-01 -3.74254581e+01] [-8.42262367e-01 5.19087098e-01 1.45405264e-01 6.23057230e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 347.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.76, Y:-35.67, Z:62.96 [[-5.98411990e-01 7.95343713e-01 -9.65995269e-02 2.96763062e+02] [ 3.35771706e-02 -9.55683377e-02 -9.94856405e-01 -3.56683308e+01] [-8.00484643e-01 -5.98577540e-01 3.04838476e-02 6.29611193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.61, Y:-37.48, Z:62.21 [[-5.41459708e-01 -8.34103801e-01 -1.05319670e-01 2.97608393e+02] [ 4.38227510e-02 -1.53103058e-01 9.87238077e-01 -3.74782736e+01] [-8.39583796e-01 5.29934243e-01 1.19451860e-01 6.22114655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.85, Y:-36.18, Z:62.07 [[-5.37821065e-01 -1.00259038e-01 -8.37076238e-01 2.97854197e+02] [ 7.97046002e-02 -9.94502981e-01 6.79043279e-02 -3.61755693e+01] [-8.39282836e-01 -3.01984489e-02 5.42855759e-01 6.20677025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.50, Y:-35.79, Z:62.92 [[-5.88921170e-01 -8.05842038e-01 -6.15667636e-02 2.96497478e+02] [ 7.44471395e-02 -1.29945970e-01 9.88722240e-01 -3.57903424e+01] [-8.04754298e-01 5.77695989e-01 1.36520567e-01 6.29222026e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.52, Y:-34.07, Z:63.74 [[-6.33286424e-01 -7.72834415e-01 -4.09300858e-02 2.95518545e+02] [ 6.85988226e-02 -1.08733663e-01 9.91701161e-01 -3.40716759e+01] [-7.70871265e-01 6.25223126e-01 1.21875083e-01 6.37418046e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.60, Y:-32.33, Z:64.59 [[-6.75614970e-01 -7.36643705e-01 -3.00077321e-02 2.94604877e+02] [ 6.32680096e-02 -9.84821567e-02 9.93125583e-01 -3.23320591e+01] [-7.34534936e-01 6.69071981e-01 1.13142000e-01 6.45946214e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.57, Y:-32.34, Z:64.60 [[-6.20766418e-01 -7.83771874e-01 -1.87270652e-02 2.94569039e+02] [ 6.91954562e-02 -7.85666962e-02 9.94504531e-01 -3.23410143e+01] [-7.80936004e-01 6.16059188e-01 1.03005019e-01 6.45950544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.73, Y:-30.53, Z:65.37 [[-6.73489837e-01 -7.38251762e-01 3.73600761e-02 2.93732871e+02] [ 6.86431189e-02 -1.21384714e-02 9.97567431e-01 -3.05316220e+01] [-7.36002419e-01 6.74416039e-01 5.88510406e-02 6.53709097e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.42232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.76, Y:-30.48, Z:65.30 [[-6.18902238e-01 -7.85002781e-01 -2.70306216e-02 2.93755094e+02] [ 7.58156532e-02 -9.39555669e-02 9.92685418e-01 -3.04809377e+01] [-7.81800490e-01 6.12325882e-01 1.17664809e-01 6.52992347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.82, Y:-28.77, Z:66.16 [[-6.81709963e-01 -7.27644981e-01 -7.61860097e-02 2.92817376e+02] [ 6.29778679e-02 -1.62108811e-01 9.84761150e-01 -2.87659424e+01] [-7.28906931e-01 6.66523455e-01 1.56336721e-01 6.61640723e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.77, Y:-28.78, Z:66.15 [[-6.29470321e-01 -7.74367774e-01 -6.42001963e-02 2.92770581e+02] [ 7.28043700e-02 -1.41037074e-01 9.87323689e-01 -2.87768615e+01] [-7.73606255e-01 6.16816905e-01 1.45156010e-01 6.61549609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.72, Y:-28.79, Z:66.14 [[-5.72165050e-01 -8.18580173e-01 -5.05337113e-02 2.92718697e+02] [ 8.13088523e-02 -1.17929402e-01 9.89687590e-01 -2.87880178e+01] [-8.16098049e-01 5.62155812e-01 1.34032897e-01 6.61405346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.79, Y:-27.05, Z:66.94 [[-6.47851947e-01 -7.61175891e-01 -2.99852889e-02 2.91787384e+02] [ 7.17266006e-02 -1.00141314e-01 9.92384508e-01 -2.70463927e+01] [-7.58381929e-01 6.40767493e-01 1.19473304e-01 6.69350532e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.72232058799995 meters Centerline goodness : 0.999952 with order 1 Centerline is valid? [True, True] Translation: X:291.74, Y:-27.05, Z:66.92 [[-5.94093368e-01 -8.04189585e-01 -1.82258620e-02 2.91736608e+02] [ 7.71422750e-02 -7.95128249e-02 9.93844445e-01 -2.70546180e+01] [-8.00688541e-01 5.89030409e-01 1.09275056e-01 6.69240630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.69, Y:-27.06, Z:66.91 [[-5.37033296e-01 -8.43560214e-01 -1.18516700e-03 2.91685033e+02] [ 8.06718052e-02 -5.27562740e-02 9.95343577e-01 -2.70634597e+01] [-8.39694765e-01 5.34437032e-01 9.63834009e-02 6.69129983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.80, Y:-25.28, Z:67.62 [[-6.18930627e-01 -7.84926287e-01 -2.85587554e-02 2.90796748e+02] [ 7.22141915e-02 -9.30730405e-02 9.93037018e-01 -2.52784904e+01] [-7.82118910e-01 6.12558677e-01 1.14288573e-01 6.76214101e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 348.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.75, Y:-25.28, Z:67.61 [[-5.62313498e-01 -8.26732347e-01 -1.78088706e-02 2.90745672e+02] [ 7.73712176e-02 -7.40425059e-02 9.94249165e-01 -2.52836060e+01] [-8.23296560e-01 5.57701832e-01 1.05600389e-01 6.76082946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.90, Y:-23.49, Z:68.32 [[-6.47031563e-01 -7.62450258e-01 -4.44525326e-03 2.89901066e+02] [ 7.04915231e-02 -6.56237296e-02 9.95351431e-01 -2.34946149e+01] [-7.59197669e-01 6.43710440e-01 9.62069043e-02 6.83224742e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.85, Y:-23.50, Z:68.31 [[-5.93191641e-01 -8.05031257e-01 6.95357742e-03 2.89850819e+02] [ 7.34888855e-02 -4.55453779e-02 9.96255490e-01 -2.35016998e+01] [-8.01700107e-01 5.91481440e-01 8.61779873e-02 6.83111280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.91, Y:-23.42, Z:68.22 [[-5.37830115e-01 -8.36560760e-01 -1.04426351e-01 2.89911922e+02] [ 8.87009462e-02 -1.79330777e-01 9.79781922e-01 -2.34187437e+01] [-8.38373968e-01 5.17693507e-01 1.70653223e-01 6.82158363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14232058799996 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:288.94, Y:-21.73, Z:68.99 [[-6.25997523e-01 -7.77064396e-01 -6.55593379e-02 2.88943950e+02] [ 7.27623560e-02 -1.41905087e-01 9.87202404e-01 -2.17327941e+01] [-7.76423043e-01 6.13216007e-01 1.45373269e-01 6.89854498e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.09, Y:-20.01, Z:69.80 [[-7.08024184e-01 -7.04650328e-01 -4.65797158e-02 2.88093077e+02] [ 5.88640381e-02 -1.24618367e-01 9.90457110e-01 -2.00105634e+01] [-7.03730616e-01 6.98525718e-01 1.29711382e-01 6.98013038e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.04, Y:-20.02, Z:69.79 [[-6.58413379e-01 -7.51685464e-01 -3.82202095e-02 2.88043223e+02] [ 6.61269494e-02 -1.08356345e-01 9.91910343e-01 -2.00183708e+01] [-7.49745989e-01 6.50559655e-01 1.21049934e-01 6.97916275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32232058799997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:287.28, Y:-18.26, Z:70.59 [[-7.37059278e-01 -6.75375264e-01 -2.47360745e-02 2.87279969e+02] [ 5.54267128e-02 -9.68857978e-02 9.93750986e-01 -1.82558733e+01] [-6.73551409e-01 7.31082345e-01 1.08844407e-01 7.05898567e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.61, Y:-16.48, Z:71.43 [[-8.05753408e-01 -5.91969447e-01 -1.82652574e-02 2.86609834e+02] [ 4.54858752e-02 -9.26030663e-02 9.94663615e-01 -1.64820680e+01] [-5.90501889e-01 8.00622787e-01 1.01541485e-01 7.14335353e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.442320588 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:286.03, Y:-14.70, Z:72.32 [[-8.64612743e-01 -5.02234116e-01 -1.43421895e-02 2.86027760e+02] [ 3.58831812e-02 -9.01960087e-02 9.95277387e-01 -1.47010677e+01] [-5.01155867e-01 8.60014868e-01 9.60063763e-02 7.23235095e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.502320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:286.26, Y:-13.38, Z:71.99 [[-8.73249841e-01 -5.69884178e-02 -4.83928750e-01 2.86259386e+02] [ 5.46848289e-02 -9.98325043e-01 1.88859341e-02 -1.33776932e+01] [-4.84194469e-01 -9.97142189e-03 8.74903587e-01 7.19896999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562320588 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:286.25, Y:-13.39, Z:71.98 [[-8.72954362e-01 -6.16060681e-02 -4.83896037e-01 2.86246291e+02] [ 5.95165510e-02 -9.98033037e-01 1.96936071e-02 -1.33862914e+01] [-4.84157477e-01 -1.16082030e-02 8.74903873e-01 7.19788585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.59, Y:-12.85, Z:73.11 [[-9.13586866e-01 4.01053408e-01 -6.71952458e-02 2.85592785e+02] [ 4.57196821e-02 -6.28916666e-02 -9.96972592e-01 -1.28478838e+01] [-4.04065277e-01 -9.13893211e-01 3.91209663e-02 7.31146524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.56, Y:-12.85, Z:73.08 [[-9.39643554e-01 3.35351590e-01 -6.78918418e-02 2.85559783e+02] [ 5.02037804e-02 -6.11458978e-02 -9.96865467e-01 -1.28474554e+01] [-3.38451727e-01 -9.40106638e-01 4.06194312e-02 7.30799388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.53, Y:-12.85, Z:73.05 [[-9.59839049e-01 2.72096159e-01 -6.83570069e-02 2.85532929e+02] [ 5.42727407e-02 -5.89646358e-02 -9.96783648e-01 -1.28453847e+01] [-2.75251648e-01 -9.60461791e-01 4.18291557e-02 7.30507825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.63, Y:-14.76, Z:72.31 [[-9.23392822e-01 3.77664838e-01 -6.86656141e-02 2.85627647e+02] [ 4.72445350e-02 -6.57067266e-02 -9.96719911e-01 -1.47602024e+01] [-3.80937856e-01 -9.23608086e-01 4.28305200e-02 7.23116705e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.80, Y:-16.68, Z:71.61 [[-8.76886591e-01 4.75671926e-01 -6.93262228e-02 2.85798395e+02] [ 3.96780722e-02 -7.21040436e-02 -9.96607574e-01 -1.66803848e+01] [-4.79056945e-01 -8.76662550e-01 4.43533240e-02 7.16078022e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 349.92232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.76, Y:-16.68, Z:71.57 [[-9.08422554e-01 4.12067027e-01 -7.04927565e-02 2.85764454e+02] [ 4.49095768e-02 -7.14553286e-02 -9.96432269e-01 -1.66789888e+01] [-4.15633966e-01 -9.08347346e-01 4.64058763e-02 7.15697715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.95, Y:-18.60, Z:70.89 [[-8.55249176e-01 5.13269860e-01 -7.14345715e-02 2.85948355e+02] [ 3.62281662e-02 -7.82905156e-02 -9.96272109e-01 -1.86018478e+01] [-5.16949095e-01 -8.54648844e-01 4.83630732e-02 7.08939052e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.92, Y:-18.60, Z:70.86 [[-8.88049997e-01 4.53902027e-01 -7.30763438e-02 2.85922558e+02] [ 4.17326418e-02 -7.87066632e-02 -9.96023919e-01 -1.85984539e+01] [-4.57848871e-01 -8.87568708e-01 5.09529213e-02 7.08566905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.89, Y:-18.60, Z:70.82 [[-9.17021841e-01 3.91866546e-01 -7.42398383e-02 2.85892601e+02] [ 4.72479039e-02 -7.80943978e-02 -9.95825738e-01 -1.85951089e+01] [-3.96028508e-01 -9.16701628e-01 5.30993955e-02 7.08214147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.86, Y:-18.59, Z:70.79 [[-9.42200376e-01 3.26511038e-01 -7.51597870e-02 2.85857168e+02] [ 5.28104259e-02 -7.67956688e-02 -9.95647269e-01 -1.85920275e+01] [-3.30861769e-01 -9.42068452e-01 5.51137210e-02 7.07863058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.82, Y:-18.59, Z:70.75 [[-9.63098526e-01 2.58256302e-01 -7.57951922e-02 2.85822096e+02] [ 5.83360167e-02 -7.46200799e-02 -9.95504271e-01 -1.85906147e+01] [-2.62751095e-01 -9.63190286e-01 5.68008451e-02 7.07542715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.87, Y:-20.52, Z:70.09 [[-9.21380034e-01 3.81116922e-01 -7.62149910e-02 2.85872148e+02] [ 4.79982674e-02 -8.30168180e-02 -9.95391568e-01 -2.05220195e+01] [-3.85687696e-01 -9.20792105e-01 5.81970867e-02 7.00915140e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.84, Y:-20.52, Z:70.05 [[-9.45648894e-01 3.15901871e-01 -7.71633185e-02 2.85838259e+02] [ 5.38927340e-02 -8.17622397e-02 -9.95193704e-01 -2.05188811e+01] [-3.20692599e-01 -9.45262368e-01 6.02935561e-02 7.00534297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.93, Y:-22.46, Z:69.43 [[-8.94820128e-01 4.39592829e-01 -7.78144165e-02 2.85926353e+02] [ 4.22669728e-02 -9.00987663e-02 -9.95035535e-01 -2.24574322e+01] [-4.44421469e-01 -8.93666804e-01 6.20419314e-02 6.94313608e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.90, Y:-22.46, Z:69.39 [[-9.22375694e-01 3.78090619e-01 -7.91868891e-02 2.85895833e+02] [ 4.85306785e-02 -8.99485246e-02 -9.94763307e-01 -2.24581062e+01] [-3.83233418e-01 -9.21388489e-01 6.46173385e-02 6.93913834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.01, Y:-24.40, Z:68.81 [[-8.64868002e-01 4.95539248e-01 -8.02757270e-02 2.86010796e+02] [ 3.60549002e-02 -9.81813266e-02 -9.94515194e-01 -2.43962649e+01] [-5.00702889e-01 -8.63018702e-01 6.70472696e-02 6.88133912e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.98, Y:-24.40, Z:68.77 [[-8.95603523e-01 4.37130670e-01 -8.25294333e-02 2.85981656e+02] [ 4.28632034e-02 -9.98608420e-02 -9.94077742e-01 -2.43956287e+01] [-4.42783328e-01 -8.93837004e-01 7.06989010e-02 6.87727013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.95, Y:-24.39, Z:68.74 [[-9.22314216e-01 3.77176728e-01 -8.41082844e-02 2.85953264e+02] [ 4.96412112e-02 -1.00207442e-01 -9.93727437e-01 -2.43942797e+01] [-3.83239139e-01 -9.20704179e-01 7.36992388e-02 6.87353357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.05, Y:-26.33, Z:68.20 [[-8.70120292e-01 4.85402822e-01 -8.52923119e-02 2.86048575e+02] [ 3.69203267e-02 -1.08376607e-01 -9.93424079e-01 -2.63349586e+01] [-4.91454542e-01 -8.67547469e-01 7.63794544e-02 6.82011979e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.21, Y:-28.28, Z:67.71 [[-8.05411394e-01 5.86219974e-01 -8.75135930e-02 2.86205701e+02] [ 2.31969059e-02 -1.16359672e-01 -9.92936217e-01 -2.82822819e+01] [-5.92262096e-01 -8.01752187e-01 8.01189156e-02 6.77113985e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.42, Y:-30.24, Z:67.28 [[-7.28281217e-01 6.79068218e-01 -9.20479419e-02 2.86424100e+02] [ 8.18387228e-03 -1.25693778e-01 -9.92035331e-01 -3.02372310e+01] [-6.85229518e-01 -7.23234007e-01 8.59830104e-02 6.72758555e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.70, Y:-32.20, Z:66.91 [[-6.38899943e-01 7.62697911e-01 -1.00492579e-01 2.86695262e+02] [-8.57074036e-03 -1.37679272e-01 -9.90439781e-01 -3.21974714e+01] [-7.69242098e-01 -6.31930624e-01 9.45001649e-02 6.69130630e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 350.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.58, Y:-32.81, Z:66.17 [[-6.16927495e-01 -8.25199735e-03 -7.86976728e-01 2.87584125e+02] [ 3.37753226e-02 -9.99301389e-01 -1.59988120e-02 -3.28138514e+01] [-7.86294915e-01 -3.64504999e-02 6.16775217e-01 6.61700791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.55, Y:-32.84, Z:66.11 [[-6.15341867e-01 -4.39009554e-02 -7.87036907e-01 2.87549181e+02] [ 6.64600526e-02 -9.97782246e-01 3.69479626e-03 -3.28404578e+01] [-7.85453657e-01 -5.00329514e-02 6.16894850e-01 6.61125450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.83, Y:-34.17, Z:66.55 [[-5.33177934e-01 8.23416829e-01 -1.94180369e-01 2.86829373e+02] [ 7.04303972e-03 -2.25198578e-01 -9.74287430e-01 -3.41720903e+01] [-8.45973809e-01 -5.20836179e-01 1.14271555e-01 6.65459314e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.84, Y:-34.18, Z:66.47 [[-5.87880032e-01 7.77482328e-01 -2.23424034e-01 2.86844093e+02] [ 2.61173073e-02 -2.57805082e-01 -9.65843893e-01 -3.41750922e+01] [-8.08526409e-01 -5.73635573e-01 1.31252715e-01 6.64702224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.39, Y:-34.37, Z:66.70 [[-6.40106736e-01 -7.28583076e-01 -2.43782830e-01 2.86388566e+02] [-1.64094000e-02 -3.04269841e-01 9.52444537e-01 -3.43696550e+01] [-7.68110733e-01 6.13666493e-01 1.82809564e-01 6.66971001e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.33, Y:-34.39, Z:66.67 [[-5.88448265e-01 -7.75084091e-01 -2.30159272e-01 2.86326108e+02] [ 2.38755167e-03 -2.86326665e-01 9.58129083e-01 -3.43851117e+01] [-8.08531347e-01 5.63259880e-01 1.70338983e-01 6.66745848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.15, Y:-34.48, Z:66.74 [[-5.31362231e-01 -8.42570784e-01 -8.79127623e-02 2.86151459e+02] [ 2.30986878e-03 -1.05216008e-01 9.94446709e-01 -3.44815203e+01] [-8.47141573e-01 5.28208354e-01 5.78540405e-02 6.67410167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.46, Y:-32.68, Z:67.14 [[-6.48917962e-01 -7.57081727e-01 -7.57148426e-02 2.85458390e+02] [-1.15115662e-02 -8.97318012e-02 9.95899437e-01 -3.26751340e+01] [-7.60771294e-01 6.47128629e-01 4.95133812e-02 6.71401051e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.42232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.41, Y:-32.68, Z:67.12 [[-5.98878749e-01 -7.97713656e-01 -7.06906400e-02 2.85405485e+02] [-6.42769549e-03 -8.34798498e-02 9.96488735e-01 -3.26793782e+01] [-8.00813916e-01 5.97230305e-01 4.48668476e-02 6.71168095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.77, Y:-30.86, Z:67.53 [[-7.01425218e-01 -7.09772598e-01 -6.50040171e-02 2.84774942e+02] [-1.69383795e-02 -7.45768997e-02 9.97071400e-01 -3.08597486e+01] [-7.12541756e-01 7.00472087e-01 4.02877205e-02 6.75332621e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.20, Y:-29.03, Z:68.00 [[-7.89044475e-01 -6.11188119e-01 -6.21119858e-02 2.84203559e+02] [-2.62204545e-02 -6.75075053e-02 9.97374165e-01 -2.90333782e+01] [-6.13776265e-01 7.88601179e-01 3.72407938e-02 6.80011978e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.70, Y:-27.20, Z:68.51 [[-8.62686666e-01 -5.02073752e-01 -6.07755107e-02 2.83696613e+02] [-3.46558578e-02 -6.12018824e-02 9.97523584e-01 -2.72010458e+01] [-5.04549985e-01 8.62656523e-01 3.53982513e-02 6.85135731e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.42, Y:-25.31, Z:68.79 [[-9.20289573e-01 3.79263928e-01 -9.60519387e-02 2.83415857e+02] [-1.01843048e-02 -2.68647408e-01 -9.63184743e-01 -2.53052798e+01] [-3.91105334e-01 -8.85430654e-01 2.51095948e-01 6.87931145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.50, Y:-27.24, Z:68.57 [[-8.63418170e-01 5.04169578e-01 -1.79471438e-02 2.83500367e+02] [-2.63740657e-02 -8.06361325e-02 -9.96394612e-01 -2.72430604e+01] [-5.03799039e-01 -8.59831874e-01 8.29197036e-02 6.85741252e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.47, Y:-27.24, Z:68.53 [[-8.94932699e-01 4.45732210e-01 -2.04514306e-02 2.83466574e+02] [-2.05214522e-02 -8.69020780e-02 -9.96005471e-01 -2.72437491e+01] [-4.45728992e-01 -8.90938171e-01 8.69185835e-02 6.85256735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.64, Y:-29.16, Z:68.19 [[-8.34436566e-01 5.50641377e-01 -2.25763421e-02 2.83642122e+02] [-3.13078482e-02 -8.82634962e-02 -9.95605029e-01 -2.91566902e+01] [-5.50213991e-01 -8.30062425e-01 9.08896853e-02 6.81856966e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 351.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.61, Y:-29.16, Z:68.14 [[-8.68322679e-01 4.95272560e-01 -2.68480141e-02 2.83610661e+02] [-2.48538166e-02 -9.75076767e-02 -9.94924389e-01 -2.91597900e+01] [-4.95376637e-01 -8.63248136e-01 9.69775404e-02 6.81382846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.58, Y:-29.16, Z:68.10 [[-8.98464557e-01 4.38057583e-01 -2.94447740e-02 2.83580157e+02] [-1.80716551e-02 -1.03907108e-01 -9.94422812e-01 -2.91625642e+01] [-4.38673974e-01 -8.92921535e-01 1.01273279e-01 6.80963082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:-29.16, Z:68.06 [[-9.25670213e-01 3.77019107e-01 -3.14841297e-02 2.83544768e+02] [-1.07184049e-02 -1.09318930e-01 -9.93948936e-01 -2.91638835e+01] [-3.78179552e-01 -9.19731463e-01 1.05234320e-01 6.80601886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.64, Y:-31.08, Z:67.75 [[-8.81620010e-01 4.70801003e-01 -3.30541060e-02 2.83644853e+02] [-2.23313785e-02 -1.11569921e-01 -9.93505643e-01 -3.10790498e+01] [-4.71431297e-01 -8.75156311e-01 1.08875911e-01 6.77542798e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.61, Y:-31.08, Z:67.72 [[-9.11156684e-01 4.10493344e-01 -3.58986179e-02 2.83608885e+02] [-1.43151750e-02 -1.18600968e-01 -9.92838802e-01 -3.10797403e+01] [-4.11811331e-01 -9.04117816e-01 1.13940349e-01 6.77151138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.57, Y:-31.08, Z:67.68 [[-9.36233174e-01 3.49327995e-01 -3.79130116e-02 2.83574561e+02] [-6.07178949e-03 -1.23965098e-01 -9.92268002e-01 -3.10809606e+01] [-3.51326882e-01 -9.28764021e-01 1.18181283e-01 6.76814968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:-31.08, Z:67.65 [[-9.57405226e-01 2.86057122e-01 -3.93262850e-02 2.83535526e+02] [ 2.51154150e-03 -1.27940900e-01 -9.91778614e-01 -3.10829908e+01] [-2.88736776e-01 -9.49632797e-01 1.21772842e-01 6.76533743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.50, Y:-31.08, Z:67.62 [[-9.75042185e-01 2.18331042e-01 -4.03025313e-02 2.83495662e+02] [ 1.17154470e-02 -1.30678102e-01 -9.91355628e-01 -3.10848879e+01] [-2.21710365e-01 -9.67085720e-01 1.24858817e-01 6.76241977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.50, Y:-33.00, Z:67.34 [[-9.47673022e-01 3.16609792e-01 -4.09155699e-02 2.83500884e+02] [-1.90965663e-03 -1.33784281e-01 -9.91008637e-01 -3.30048350e+01] [-3.19236899e-01 -9.39074015e-01 1.27388369e-01 6.73390720e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.55, Y:-34.93, Z:67.07 [[-9.08702022e-01 4.15303136e-01 -4.22367133e-02 2.83551622e+02] [-1.64499131e-02 -1.36725116e-01 -9.90472434e-01 -3.49250848e+01] [-4.17121128e-01 -8.99349514e-01 1.31074090e-01 6.70723406e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.502320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.66, Y:-36.84, Z:66.83 [[-8.60797327e-01 5.07004527e-01 -4.44338896e-02 2.83659688e+02] [-3.09503932e-02 -1.39291149e-01 -9.89767674e-01 -3.68441375e+01] [-5.08005939e-01 -8.50614122e-01 1.35593439e-01 6.68340566e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.63, Y:-36.85, Z:66.79 [[-8.92174089e-01 4.49110261e-01 -4.82220694e-02 2.83626145e+02] [-2.11585429e-02 -1.48194785e-01 -9.88731825e-01 -3.68467334e+01] [-4.51195867e-01 -8.81100607e-01 1.41718066e-01 6.67938225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.74, Y:-38.77, Z:66.58 [[-8.46176682e-01 5.30403131e-01 -5.15513457e-02 2.83735086e+02] [-3.55282598e-02 -1.52671166e-01 -9.87638222e-01 -3.87675119e+01] [-5.31716809e-01 -8.33884904e-01 1.48031081e-01 6.65765294e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.88, Y:-40.69, Z:66.39 [[-7.94452540e-01 6.04606012e-01 -5.74171729e-02 2.83878703e+02] [-5.01166612e-02 -1.59483181e-01 -9.85927703e-01 -4.06901698e+01] [-6.05254890e-01 -7.80395211e-01 1.57002653e-01 6.63920291e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.05, Y:-42.62, Z:66.25 [[-7.36265743e-01 6.73410450e-01 -6.65666740e-02 2.84045606e+02] [-6.55858076e-02 -1.68921122e-01 -9.83445045e-01 -4.26151337e+01] [-6.73506687e-01 -7.19711067e-01 1.68537004e-01 6.62487428e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 352.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.04, Y:-42.62, Z:66.18 [[-7.80366492e-01 6.18679515e-01 -9.09054172e-02 2.84037312e+02] [-5.10613681e-02 -2.07932936e-01 -9.76809414e-01 -4.26194676e+01] [-6.23234205e-01 -7.57627581e-01 1.93854518e-01 6.61795083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.862320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.01, Y:-42.62, Z:66.12 [[-8.21316644e-01 5.60616591e-01 -1.05584126e-01 2.84013601e+02] [-3.46053825e-02 -2.33702062e-01 -9.71692242e-01 -4.26229875e+01] [-5.69422020e-01 -7.94413233e-01 2.11343745e-01 6.61171889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.98, Y:-42.63, Z:66.07 [[-8.57126108e-01 5.02399694e-01 -1.13707442e-01 2.83982732e+02] [-1.76431285e-02 -2.49249489e-01 -9.68278582e-01 -4.26284679e+01] [-5.14804385e-01 -8.27930697e-01 2.22502147e-01 6.60650175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.95, Y:-42.63, Z:66.01 [[-8.89983284e-01 4.39405799e-01 -1.21870007e-01 2.83949649e+02] [ 1.09837706e-03 -2.65196253e-01 -9.64193829e-01 -4.26335278e+01] [-4.55991829e-01 -8.58250250e-01 2.35537599e-01 6.60135204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.91, Y:-44.56, Z:65.98 [[-8.40933372e-01 5.25902369e-01 -1.27505926e-01 2.83906819e+02] [-2.68520055e-02 -2.75888276e-01 -9.60814565e-01 -4.45616607e+01] [-5.40472046e-01 -8.04557243e-01 2.46125192e-01 6.59845310e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.90, Y:-46.49, Z:66.01 [[-7.80964187e-01 6.09320012e-01 -1.37200809e-01 2.83897388e+02] [-5.73121909e-02 -2.88655840e-01 -9.55716024e-01 -4.64884918e+01] [-6.21940714e-01 -7.38516709e-01 2.60351339e-01 6.60062562e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.06, Y:-48.39, Z:65.91 [[-7.09940802e-01 7.04223457e-01 7.30620294e-03 2.84063303e+02] [-6.83266930e-02 -5.85486628e-02 -9.95943531e-01 -4.83933770e+01] [-7.00939028e-01 -7.07560158e-01 8.96833446e-02 6.59094581e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.40, Y:-50.27, Z:65.69 [[-6.31331537e-01 7.75503591e-01 -3.83034162e-03 2.84396275e+02] [-7.54776926e-02 -6.63599712e-02 -9.94936919e-01 -5.02744349e+01] [-7.71831334e-01 -6.27845949e-01 1.00428364e-01 6.56894639e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.76, Y:-52.15, Z:65.52 [[-5.47858940e-01 8.36566417e-01 -2.68542744e-03 2.84756814e+02] [-8.18048932e-02 -5.67673085e-02 -9.95030367e-01 -5.21539575e+01] [-8.32561434e-01 -5.44916601e-01 9.95357039e-02 6.55169984e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.70, Y:-52.72, Z:64.96 [[-5.36660696e-01 1.42094816e-01 -8.31747775e-01 2.85699001e+02] [-6.21126259e-02 -9.89697132e-01 -1.29002361e-01 -5.27218549e+01] [-8.41508954e-01 -1.75684586e-02 5.39957434e-01 6.49623839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:-52.74, Z:64.94 [[-5.37892820e-01 1.31835218e-01 -8.32640853e-01 2.85685975e+02] [-5.23948384e-02 -9.91014690e-01 -1.23063659e-01 -5.27366629e+01] [-8.41383441e-01 -2.25689758e-02 5.39967171e-01 6.49378879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.63, Y:-52.20, Z:65.50 [[-6.02595166e-01 7.90749275e-01 1.07678459e-01 2.84629783e+02] [-7.60079044e-02 7.74463207e-02 -9.94094998e-01 -5.21967295e+01] [-7.94419200e-01 -6.07221254e-01 1.34344169e-02 6.54987161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.66, Y:-52.18, Z:65.40 [[-6.54549052e-01 7.54513628e-01 4.76940666e-02 2.84664647e+02] [-7.49845876e-02 -2.01639152e-03 -9.97182654e-01 -5.21794466e+01] [-7.52291732e-01 -6.56281281e-01 5.78967204e-02 6.53969174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.52, Y:-52.81, Z:64.66 [[-6.49844896e-01 8.17260077e-02 -7.55660288e-01 2.85518748e+02] [-2.30113426e-02 -9.95862136e-01 -8.79152103e-02 -5.28080334e+01] [-7.59718428e-01 -3.97424929e-02 6.49036551e-01 6.46577830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.64, Y:-52.18, Z:65.29 [[-7.08681299e-01 7.05517640e-01 -3.95936654e-03 2.84642918e+02] [-3.30538563e-02 -3.88067813e-02 -9.98699893e-01 -5.21849179e+01] [-7.04754041e-01 -7.07629065e-01 5.08217188e-02 6.52893165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.62, Y:-52.18, Z:65.23 [[-7.52620391e-01 6.58370663e-01 -1.05174709e-02 2.84624193e+02] [-2.97737046e-02 -4.99839297e-02 -9.98306132e-01 -5.21842679e+01] [-6.57781174e-01 -7.51032408e-01 5.72210583e-02 6.52332938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.84, Y:-54.06, Z:65.00 [[-6.94101021e-01 7.19729918e-01 -1.45813894e-02 2.84835910e+02] [-3.43598514e-02 -5.33550219e-02 -9.97984290e-01 -5.40566654e+01] [-7.19057141e-01 -6.92200900e-01 6.17635882e-02 6.50005732e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.88, Y:-54.05, Z:64.88 [[-7.38734335e-01 6.67436191e-01 -9.38110568e-02 2.84879544e+02] [-2.30630140e-02 -1.64136883e-01 -9.86167927e-01 -5.40492040e+01] [-6.73602019e-01 -7.26352542e-01 1.36646641e-01 6.48821252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:-55.95, Z:64.81 [[-6.87497712e-01 7.18362601e-01 -1.06311193e-01 2.84925659e+02] [-3.64337059e-02 -1.80333180e-01 -9.82930582e-01 -5.59475578e+01] [-7.25272005e-01 -6.71889216e-01 1.50151260e-01 6.48107591e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 353.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.11, Y:-57.83, Z:64.64 [[-6.31823671e-01 7.74532648e-01 2.99670736e-02 2.85111328e+02] [-3.63571043e-02 9.00512877e-03 -9.99298288e-01 -5.78271422e+01] [-7.74259007e-01 -6.32469829e-01 2.24701107e-02 6.46438435e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 354.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.09, Y:-57.83, Z:64.59 [[-6.84428550e-01 7.28611678e-01 2.61263027e-02 2.85085762e+02] [-3.65352997e-02 1.51387597e-03 -9.99331216e-01 -5.78273892e+01] [-7.28163946e-01 -6.84925347e-01 2.55839060e-02 6.45901379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.39, Y:-59.69, Z:64.30 [[-6.24006249e-01 7.81065742e-01 2.35054986e-02 2.85393372e+02] [-3.65643422e-02 8.62147278e-04 -9.99330929e-01 -5.96863631e+01] [-7.80563418e-01 -6.24448208e-01 2.80211697e-02 6.43017406e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 354.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.37, Y:-59.69, Z:64.24 [[-6.78645600e-01 7.34207625e-01 1.94759629e-02 2.85365207e+02] [-3.61283667e-02 -6.88575107e-03 -9.99323435e-01 -5.96871689e+01] [-7.33576779e-01 -6.78890087e-01 3.11987069e-02 6.42392480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.33, Y:-59.69, Z:64.18 [[-7.28453899e-01 6.84911472e-01 1.58490672e-02 2.85333727e+02] [-3.51621853e-02 -1.42739326e-02 -9.99279678e-01 -5.96885296e+01] [-6.84191887e-01 -7.28486466e-01 3.44808859e-02 6.41812538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.09, Y:-60.38, Z:63.34 [[-7.21076280e-01 1.95882268e-02 -6.92578732e-01 2.86086642e+02] [ 5.51732943e-03 -9.99406243e-01 -3.40105904e-02 -6.03820748e+01] [-6.92833716e-01 -2.83454150e-02 7.20540061e-01 6.33426540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.41, Y:-59.67, Z:63.95 [[-7.72854815e-01 6.16991059e-01 -1.48382847e-01 2.85411147e+02] [ 9.10525953e-03 -2.23021472e-01 -9.74771008e-01 -5.96740904e+01] [-6.34517557e-01 -7.54707531e-01 1.66745354e-01 6.39518714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.45, Y:-61.56, Z:63.84 [[-7.10527173e-01 7.00960113e-01 -6.16932445e-02 2.85445162e+02] [-8.63411890e-04 -8.85419788e-02 -9.96072072e-01 -6.15607841e+01] [-7.03669234e-01 -7.07683006e-01 6.35166992e-02 6.38443094e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 354.42232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:-63.44, Z:63.63 [[-6.44586934e-01 7.61472546e-01 -6.83172457e-02 2.85541626e+02] [-9.54358952e-03 -9.73655536e-02 -9.95202928e-01 -6.34430049e+01] [-7.64471455e-01 -6.40842812e-01 7.00277451e-02 6.36329168e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 354.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.49, Y:-63.45, Z:63.60 [[-6.93763368e-01 7.19000550e-01 -4.16004590e-02 2.85489658e+02] [-5.67086125e-03 -6.32138928e-02 -9.97983890e-01 -6.34484912e+01] [-7.20180693e-01 -6.92128754e-01 4.79328355e-02 6.35985452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54232058799994 meters Centerline goodness : 0.971375 with order 1 Centerline is valid? [True, True] Translation: X:285.43, Y:-63.44, Z:63.58 [[-6.72645022e-01 7.38815051e-01 -4.12431151e-02 2.85431604e+02] [-7.48874458e-03 -6.25305511e-02 -9.98014954e-01 -6.34404922e+01] [-7.39927425e-01 -6.71000931e-01 4.75936611e-02 6.35781599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.58, Y:-65.34, Z:63.34 [[-6.88955444e-01 7.23043297e-01 -5.04855002e-02 2.85579107e+02] [-7.02173818e-03 -7.63090013e-02 -9.97059492e-01 -6.53420083e+01] [-7.24769681e-01 -6.86575070e-01 5.76505226e-02 6.33366614e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 354.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.70, Y:-67.23, Z:63.16 [[-6.52206759e-01 7.55866591e-01 -5.73763022e-02 2.85703804e+02] [-1.12787966e-02 -8.53581084e-02 -9.96286496e-01 -6.72296138e+01] [-7.57957210e-01 -6.49137651e-01 6.41964008e-02 6.31552900e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 354.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.82, Y:-69.10, Z:63.00 [[-6.13833383e-01 7.86519154e-01 -6.77952618e-02 2.85821645e+02] [-1.64598335e-02 -9.86106940e-02 -9.94989952e-01 -6.91034076e+01] [-7.89263994e-01 -6.09642150e-01 7.34765102e-02 6.29987314e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 354.78232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.80, Y:-69.09, Z:62.93 [[-6.66762390e-01 7.40955970e-01 -8.00759969e-02 2.85803911e+02] [-8.51676061e-03 -1.15014032e-01 -9.93327356e-01 -6.90865699e+01] [-7.45221698e-01 -6.61631334e-01 8.29975758e-02 6.29278862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.15, Y:-70.89, Z:62.55 [[-6.14629922e-01 -7.55526595e-01 -2.26736906e-01 2.86153682e+02] [ 1.21377817e-02 -2.96464056e-01 9.54966878e-01 -7.08894433e+01] [-7.88722216e-01 5.84199134e-01 1.91386096e-01 6.25509272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.52, Y:-69.88, Z:62.22 [[-6.15608016e-01 -3.19602881e-02 -7.87404159e-01 2.86521390e+02] [ 3.30201288e-02 -9.99345883e-01 1.47470981e-02 -6.98820703e+01] [-7.87360427e-01 -1.69217549e-02 6.16260670e-01 6.22192547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.77, Y:-71.00, Z:62.68 [[-5.57816213e-01 8.24317822e-01 -9.66498874e-02 2.85769910e+02] [ 2.35077544e-02 -1.00711921e-01 -9.94637871e-01 -7.09957735e+01] [-8.29631519e-01 -5.57097152e-01 3.68008817e-02 6.26776317e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.70, Y:-71.02, Z:62.67 [[-6.15166304e-01 -7.87451862e-01 3.86003054e-02 2.85697221e+02] [ 2.53632386e-02 2.91685748e-02 9.99252671e-01 -7.10225303e+01] [-7.87989293e-01 6.15685601e-01 2.02880510e-03 6.26656905e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.08232058799996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:285.46, Y:-69.17, Z:62.81 [[-6.77505018e-01 -7.34488568e-01 3.89036476e-02 2.85456598e+02] [ 2.76928224e-02 2.73824654e-02 9.99241366e-01 -6.91653938e+01] [-7.34996638e-01 6.78068392e-01 1.78830380e-03 6.28112424e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.40, Y:-69.16, Z:62.77 [[-6.25233252e-01 -7.79460978e-01 3.90379953e-02 2.85400818e+02] [ 2.57242750e-02 2.94107238e-02 9.99236344e-01 -6.91628325e+01] [-7.80013873e-01 6.25760013e-01 1.66250608e-03 6.27692292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.38, Y:-67.29, Z:62.75 [[-6.91975388e-01 6.75959841e-01 -2.53472595e-01 2.85380289e+02] [ 5.21553692e-02 -3.03381780e-01 -9.51440651e-01 -6.72935927e+01] [-7.20034638e-01 -6.71593471e-01 1.74677790e-01 6.27469479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.20, Y:-69.18, Z:62.70 [[-6.14451865e-01 7.78261095e-01 -1.29454913e-01 2.85195185e+02] [ 3.49750779e-02 -1.37052828e-01 -9.89946093e-01 -6.91793530e+01] [-7.88178692e-01 -6.12801918e-01 5.69926232e-02 6.27044808e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.18, Y:-69.20, Z:62.64 [[-6.62891301e-01 7.36036847e-01 -1.37203799e-01 2.85176235e+02] [ 4.44811764e-02 -1.44213077e-01 -9.88546414e-01 -6.91960519e+01] [-7.47393168e-01 -6.61401805e-01 6.28578094e-02 6.26434218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38232058799997 meters Centerline goodness : 0.990215 with order 1 Centerline is valid? [True, True] Translation: X:285.14, Y:-71.08, Z:62.53 [[-6.37673690e-01 7.57026911e-01 -1.42416715e-01 2.85136359e+02] [ 3.94562589e-02 -1.52540947e-01 -9.87509222e-01 -7.10765549e+01] [-7.69295437e-01 -6.35327880e-01 6.74018984e-02 6.25261929e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.442320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.02, Y:-72.97, Z:62.39 [[-6.11491368e-01 7.75001576e-01 -1.59533269e-01 2.85023427e+02] [ 3.22178582e-02 -1.77067195e-01 -9.83671296e-01 -7.29697280e+01] [-7.90594913e-01 -6.06646326e-01 8.33061701e-02 6.23890342e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.502320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:285.13, Y:-74.82, Z:62.16 [[-5.29823909e-01 -8.44199204e-01 -8.13285261e-02 2.85127139e+02] [ 3.97203157e-02 -1.20488324e-01 9.91919785e-01 -7.48157265e+01] [-8.47177031e-01 5.22312424e-01 9.73694537e-02 6.21612630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.94, Y:-74.85, Z:62.20 [[-4.71936668e-01 -8.79048415e-01 6.74512023e-02 2.84939777e+02] [ 3.29409447e-02 5.88721851e-02 9.97721885e-01 -7.48457655e+01] [-8.81016842e-01 4.73083449e-01 1.17274232e-03 6.21950945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.94, Y:-72.98, Z:62.18 [[-5.56227194e-01 8.03708879e-01 -2.11337047e-01 2.84938721e+02] [ 5.28282961e-02 -2.19596242e-01 -9.74159464e-01 -7.29842276e+01] [-8.29349432e-01 -5.53018561e-01 7.96868310e-02 6.21824721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.05, Y:-73.02, Z:62.05 [[-6.03768956e-01 7.19059947e-01 -3.44116027e-01 2.85052631e+02] [ 8.03221446e-02 -3.74605102e-01 -9.23698745e-01 -7.30168256e+01] [-7.93102390e-01 -5.85340764e-01 1.68418494e-01 6.20512894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.78, Y:-72.97, Z:62.15 [[-6.56398917e-01 -7.47608574e-01 1.01103329e-01 2.84784010e+02] [ 8.02390381e-02 6.40711108e-02 9.94714326e-01 -7.29722030e+01] [-7.50134761e-01 6.61041839e-01 1.79311851e-02 6.21521550e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.802320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:285.45, Y:-72.00, Z:61.62 [[-6.62841858e-01 -1.40802769e-01 -7.35401422e-01 2.85454231e+02] [ 1.10983196e-01 -9.89786281e-01 8.94754065e-02 -7.19991675e+01] [-7.40488623e-01 -2.23091552e-02 6.71698519e-01 6.16188896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.862320588 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:285.46, Y:-72.03, Z:61.62 [[-6.61966544e-01 -1.59232682e-01 -7.32424227e-01 2.85459398e+02] [ 1.15373497e-01 -9.87174568e-01 1.10341870e-01 -7.20253303e+01] [-7.40600601e-01 -1.14597175e-02 6.71847768e-01 6.16176492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.65, Y:-71.11, Z:62.34 [[-7.19495436e-01 -6.94067736e-01 2.44191368e-02 2.84650373e+02] [ 9.89574220e-02 -6.76538555e-02 9.92789194e-01 -7.11062571e+01] [-6.87410900e-01 7.16723750e-01 1.17359794e-01 6.23379183e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 355.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.23, Y:-70.16, Z:61.83 [[-7.23619159e-01 -1.45665884e-01 -6.74653068e-01 2.85225272e+02] [ 1.13926973e-01 -9.89275743e-01 9.14010291e-02 -7.01649237e+01] [-6.80731928e-01 -1.07216465e-02 7.32454155e-01 6.18302561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.21, Y:-70.17, Z:61.84 [[-7.22963433e-01 -1.54023793e-01 -6.73498734e-01 2.85210279e+02] [ 1.17920164e-01 -9.88038109e-01 9.93757040e-02 -7.01733957e+01] [-6.80748639e-01 -7.57408116e-03 7.32477934e-01 6.18442515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.65, Y:-71.06, Z:62.18 [[-6.68752788e-01 -7.39694082e-01 -7.49824885e-02 2.84653742e+02] [ 1.27433060e-01 -2.13399870e-01 9.68618248e-01 -7.10611166e+01] [-7.32482439e-01 6.38210906e-01 2.36973238e-01 6.21766131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.18, Y:-71.03, Z:62.58 [[-6.25990981e-01 6.72847257e-01 -3.94223111e-01 2.84180591e+02] [ 9.19851397e-02 -4.38285935e-01 -8.94116420e-01 -7.10320451e+01] [-7.74386225e-01 -5.95971483e-01 2.12471094e-01 6.25783416e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 356.22232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:-71.90, Z:62.10 [[-6.18510571e-01 -1.47063321e-01 -7.71891866e-01 2.84587148e+02] [ 9.83051602e-02 -9.89094352e-01 1.09674326e-01 -7.18968489e+01] [-7.79602956e-01 -8.04622386e-03 6.26222396e-01 6.20962748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.97, Y:-70.98, Z:62.62 [[-6.71411925e-01 7.03410692e-01 -2.33279717e-01 2.83968884e+02] [ 1.08452354e-01 -2.18131288e-01 -9.69874646e-01 -7.09846430e+01] [-7.33105800e-01 -6.76485137e-01 7.01694025e-02 6.26244427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.06, Y:-71.00, Z:62.44 [[-7.13172808e-01 5.98252749e-01 -3.65346677e-01 2.84064882e+02] [ 1.35924970e-01 -3.93275605e-01 -9.09317712e-01 -7.09992223e+01] [-6.87683757e-01 -6.98160402e-01 1.99155980e-01 6.24406436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.64, Y:-70.98, Z:62.78 [[-7.59485918e-01 -6.49554162e-01 -3.55039530e-02 2.83641422e+02] [ 1.21236861e-01 -1.94954258e-01 9.73290533e-01 -7.09814394e+01] [-6.39126563e-01 7.34896066e-01 2.26814921e-01 6.27822391e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 356.46232058799995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:284.12, Y:-70.09, Z:62.35 [[-7.59277033e-01 -1.66624257e-01 -6.29074514e-01 2.84124118e+02] [ 1.33788381e-01 -9.85984018e-01 9.96804164e-02 -7.00922608e+01] [-6.36866592e-01 -8.47781014e-03 7.70927410e-01 6.23470185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.75, Y:-69.20, Z:62.86 [[-7.96055167e-01 4.98484381e-01 -3.43233875e-01 2.83754891e+02] [ 1.59820193e-01 -3.73849668e-01 -9.13615856e-01 -6.91990473e+01] [-5.83741104e-01 -7.82144327e-01 2.17937090e-01 6.28578433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.45, Y:-70.96, Z:62.67 [[-7.48857610e-01 -6.62368589e-01 2.19119472e-02 2.83447015e+02] [ 1.71420135e-01 -1.61653574e-01 9.71845286e-01 -7.09624601e+01] [-6.40177646e-01 7.31529886e-01 2.34598822e-01 6.26675728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.44, Y:-70.94, Z:62.62 [[-7.00995042e-01 -7.13009243e-01 -1.49589627e-02 2.83443631e+02] [ 1.86269317e-01 -2.03297442e-01 9.61235607e-01 -7.09350032e+01] [-6.88410991e-01 6.71034999e-01 2.75322243e-01 6.26176815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.29, Y:-69.15, Z:63.12 [[-7.58488348e-01 -6.50155702e-01 4.46429075e-02 2.83287568e+02] [ 1.74813414e-01 -1.36991788e-01 9.75024882e-01 -6.91528653e+01] [-6.27802275e-01 7.47349191e-01 2.17562613e-01 6.31212130e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 356.76232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.84, Y:-68.30, Z:62.65 [[-7.60766960e-01 -2.34649541e-01 -6.05122488e-01 2.83837048e+02] [ 1.90632773e-01 -9.72018511e-01 1.37255817e-01 -6.83028118e+01] [-6.20397274e-01 -1.09364870e-02 7.84211461e-01 6.26484365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.82, Y:-68.30, Z:62.63 [[-7.58642807e-01 -2.42486624e-01 -6.04699370e-01 2.83818055e+02] [ 1.99181955e-01 -9.70040048e-01 1.39100159e-01 -6.83034665e+01] [-6.20312534e-01 -1.49178676e-02 7.84212865e-01 6.26348583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88232058799997 meters Centerline goodness : 0.998227 with order 1 Centerline is valid? [True, True] Translation: X:283.88, Y:-68.30, Z:62.67 [[-7.68035526e-01 -2.12702442e-01 -6.04052234e-01 2.83876193e+02] [ 1.59005965e-01 -9.77031722e-01 1.41866545e-01 -6.83035808e+01] [-6.20353555e-01 1.29106379e-02 7.84216030e-01 6.26655420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.942320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.83, Y:-68.32, Z:62.65 [[-7.56161893e-01 -2.53516390e-01 -6.03281553e-01 2.83825144e+02] [ 2.08517348e-01 -9.67197326e-01 1.45085658e-01 -6.83167811e+01] [-6.20273897e-01 -1.60864235e-02 7.84220326e-01 6.26486287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.22, Y:-69.10, Z:62.97 [[-7.01834800e-01 -7.12107579e-01 -1.81854115e-02 2.83223293e+02] [ 2.08319772e-01 -2.29593822e-01 9.50731061e-01 -6.91003873e+01] [-6.81198052e-01 6.63467763e-01 3.09483022e-01 6.29735515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.00, Y:-69.11, Z:63.12 [[-6.55150790e-01 -7.36709165e-01 1.67442674e-01 2.83001606e+02] [ 2.00752299e-01 4.39060972e-02 9.78657636e-01 -6.91113522e+01] [-7.28337804e-01 6.74782825e-01 1.19130944e-01 6.31189303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.89, Y:-69.11, Z:63.12 [[-6.04654191e-01 -7.63561996e-01 2.26641540e-01 2.82885160e+02] [ 1.90365917e-01 1.37762024e-01 9.71999199e-01 -6.91110340e+01] [-7.73404246e-01 6.30868214e-01 6.20577950e-02 6.31215023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.182320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.74, Y:-68.35, Z:62.65 [[-6.10090172e-01 -3.14178715e-01 -7.27380036e-01 2.83736343e+02] [ 2.18341398e-01 -9.49144024e-01 2.26831780e-01 -6.83546119e+01] [-7.61654131e-01 -2.04293341e-02 6.47661661e-01 6.26490476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.242320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.67, Y:-68.35, Z:62.58 [[-5.98762621e-01 -3.43138626e-01 -7.23698285e-01 2.83672386e+02] [ 2.49945987e-01 -9.38505015e-01 2.38191814e-01 -6.83482962e+01] [-7.60927281e-01 -3.82651275e-02 6.47707845e-01 6.25842977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.302320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.64, Y:-68.38, Z:62.53 [[-5.94310024e-01 -3.80118024e-01 -7.08735412e-01 2.83644872e+02] [ 2.59688280e-01 -9.24748808e-01 2.78211500e-01 -6.83807264e+01] [-7.61155433e-01 -1.87063970e-02 6.48299682e-01 6.25302566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.362320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.46, Y:-67.43, Z:62.90 [[-6.37177436e-01 4.78622917e-01 -6.04090240e-01 2.83459231e+02] [ 2.93236764e-01 -5.74304169e-01 -7.64321216e-01 -6.74303152e+01] [-7.12753194e-01 -6.64149700e-01 2.25583823e-01 6.28998586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.56, Y:-68.40, Z:62.43 [[-6.28374486e-01 -4.21911727e-01 -6.53556425e-01 2.83559670e+02] [ 2.99019752e-01 -9.06598771e-01 2.97768124e-01 -6.83956840e+01] [-7.18145315e-01 -8.31638792e-03 6.95843477e-01 6.24304862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:-68.39, Z:62.44 [[-6.28708984e-01 -4.25577950e-01 -6.50852074e-01 2.83544949e+02] [ 2.98251026e-01 -9.04915966e-01 3.03600757e-01 -6.83930490e+01] [-7.18172221e-01 -3.24077524e-03 6.95857858e-01 6.24392074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.53, Y:-68.39, Z:62.41 [[-6.27285883e-01 -4.30388391e-01 -6.49059515e-01 2.83526433e+02] [ 3.01241420e-01 -9.02639777e-01 3.07400456e-01 -6.83910930e+01] [-7.18168523e-01 -2.69564337e-03 6.95863999e-01 6.24074940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.51, Y:-68.39, Z:62.41 [[-6.24079754e-01 -4.38019426e-01 -6.47042072e-01 2.83511670e+02] [ 3.07870343e-01 -8.98953026e-01 3.11607620e-01 -6.83892994e+01] [-7.18150620e-01 -4.73705795e-03 6.95871574e-01 6.24127388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.33, Y:-67.37, Z:62.91 [[-6.65165633e-01 5.12233135e-01 -5.43297245e-01 2.83327429e+02] [ 3.39442834e-01 -4.40641913e-01 -8.31031447e-01 -6.73704838e+01] [-6.65081381e-01 -7.37191915e-01 1.19225990e-01 6.29133306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.42, Y:-68.36, Z:62.30 [[-6.54867864e-01 -4.63227661e-01 -5.97133330e-01 2.83420485e+02] [ 3.49958815e-01 -8.86181616e-01 3.03662593e-01 -6.83626853e+01] [-6.69833493e-01 -1.01131991e-02 7.42442466e-01 6.23020063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78232058799995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:283.41, Y:-68.37, Z:62.30 [[-6.51978999e-01 -4.70282386e-01 -5.94775473e-01 2.83410634e+02] [ 3.55340209e-01 -8.82454863e-01 3.08231649e-01 -6.83674279e+01] [-6.69818424e-01 -1.03870787e-02 7.42452280e-01 6.22981230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.53, Y:-68.94, Z:62.67 [[-5.97362066e-01 -7.48620981e-01 2.87619868e-01 2.82533183e+02] [ 3.38679765e-01 8.96016757e-02 9.36625623e-01 -6.89360118e+01] [-7.26948814e-01 6.56915647e-01 2.00018135e-01 6.26657200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.36, Y:-68.37, Z:62.25 [[-5.97479675e-01 -5.01237535e-01 -6.25922496e-01 2.83359804e+02] [ 3.59463528e-01 -8.65160616e-01 3.49689977e-01 -6.83703917e+01] [-7.16801235e-01 -1.60636554e-02 6.97092496e-01 6.22511182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96232058799995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:283.34, Y:-68.36, Z:62.25 [[-5.94694553e-01 -5.07139428e-01 -6.23817272e-01 2.83337587e+02] [ 3.64105550e-01 -8.61697161e-01 3.53419228e-01 -6.83617276e+01] [-7.16774398e-01 -1.69588411e-02 6.97098889e-01 6.22504063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.34, Y:-68.37, Z:62.24 [[-5.93002016e-01 -5.13196379e-01 -6.20466023e-01 2.83344105e+02] [ 3.66781915e-01 -8.58147944e-01 3.59239659e-01 -6.83723280e+01] [-7.16812134e-01 -1.45458744e-02 6.97114612e-01 6.22386771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.32, Y:-68.88, Z:62.75 [[-5.44534612e-01 -7.01848072e-01 4.59229072e-01 2.82315933e+02] [ 3.26465163e-01 3.26986736e-01 8.86848449e-01 -6.88840325e+01] [-7.72594689e-01 6.32841970e-01 5.10733500e-02 6.27512327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:-68.36, Z:62.24 [[-5.44908341e-01 -5.23761037e-01 -6.54789490e-01 2.83308451e+02] [ 3.49027471e-01 -8.51722875e-01 3.90829846e-01 -6.83612448e+01] [-7.62400632e-01 -1.55730769e-02 6.46917889e-01 6.22402656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20232058799996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:-68.37, Z:62.22 [[-5.39474807e-01 -5.32081407e-01 -6.52576669e-01 2.83310641e+02] [ 3.57631051e-01 -8.46443615e-01 3.94503787e-01 -6.83661714e+01] [-7.62277485e-01 -2.05568255e-02 6.46923839e-01 6.22215816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26232058799997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:283.28, Y:-68.36, Z:62.18 [[-5.26765351e-01 -5.49281795e-01 -6.48696982e-01 2.83278572e+02] [ 3.77055692e-01 -8.34967211e-01 4.00822606e-01 -6.83594436e+01] [-7.61805271e-01 -3.34554285e-02 6.46941623e-01 6.21776985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.23, Y:-68.37, Z:62.14 [[-5.02498554e-01 -5.86236050e-01 -6.35470296e-01 2.83234421e+02] [ 4.10747127e-01 -8.08634433e-01 4.21185412e-01 -6.83663186e+01] [-7.60777235e-01 -4.93725381e-02 6.47132406e-01 6.21357209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38232058799997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.18, Y:-68.38, Z:62.09 [[-4.99170492e-01 -6.15915673e-01 -6.09488887e-01 2.83180108e+02] [ 4.13525032e-01 -7.87450094e-01 4.57077014e-01 -6.83791198e+01] [-7.61462978e-01 -2.38795536e-02 6.47768400e-01 6.20876772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.442320588 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:283.15, Y:-68.36, Z:62.08 [[-4.98209243e-01 -6.19552855e-01 -6.06582072e-01 2.83149047e+02] [ 4.14582182e-01 -7.84650914e-01 4.60917082e-01 -6.83646432e+01] [-7.61517672e-01 -2.18449686e-02 6.47775913e-01 6.20824148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.502320588 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:283.11, Y:-68.35, Z:62.03 [[-4.95946055e-01 -6.25564663e-01 -6.02251079e-01 2.83105648e+02] [ 4.17214420e-01 -7.79918751e-01 4.66539247e-01 -6.83457264e+01] [-7.61557377e-01 -1.98895359e-02 6.47792226e-01 6.20252492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.82, Y:-67.11, Z:62.83 [[-5.78254421e-01 -7.43419459e-01 3.36079355e-01 2.82820545e+02] [ 4.10413613e-01 9.09564272e-02 9.07351969e-01 -6.71062321e+01] [-7.05111687e-01 6.62611829e-01 2.52513510e-01 6.28278107e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.622320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.62, Y:-66.59, Z:62.39 [[-5.75130687e-01 -5.89425348e-01 -5.67276345e-01 2.83621520e+02] [ 4.39479218e-01 -8.07494911e-01 3.93459002e-01 -6.65916614e+01] [-6.89987471e-01 -2.30158183e-02 7.23455294e-01 6.23947388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.682320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.60, Y:-66.59, Z:62.38 [[-5.71410877e-01 -5.99936637e-01 -5.59969321e-01 2.83600616e+02] [ 4.44168501e-01 -7.99843901e-01 4.03688093e-01 -6.65943681e+01] [-6.90075323e-01 -1.80489666e-02 7.23512462e-01 6.23806431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.742320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.58, Y:-66.59, Z:62.36 [[-5.67237764e-01 -6.07201569e-01 -5.56369997e-01 2.83582787e+02] [ 4.49518250e-01 -7.94336620e-01 4.08610666e-01 -6.65905038e+01] [-6.90054101e-01 -1.83190675e-02 7.23525915e-01 6.23635064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.802320588 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.32, Y:-66.42, Z:62.07 [[-5.47030381e-01 -6.28485715e-01 -5.52958831e-01 2.83319777e+02] [ 4.74979142e-01 -7.76958895e-01 4.13194495e-01 -6.64152356e+01] [-6.89313119e-01 -3.66139694e-02 7.23537726e-01 6.20668274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.862320588 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:-66.58, Z:62.37 [[-5.62565094e-01 -6.14916820e-01 -5.52628103e-01 2.83544712e+02] [ 4.55397968e-01 -7.88363819e-01 4.13636531e-01 -6.65840535e+01] [-6.90024061e-01 -1.89682412e-02 7.23537836e-01 6.23737551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92232058799993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.33, Y:-66.77, Z:63.15 [[-5.42976363e-01 3.93725145e-01 -7.41725811e-01 2.82327266e+02] [ 3.75383922e-01 -6.76305513e-01 -6.33796311e-01 -6.67718829e+01] [-7.51174800e-01 -6.22568360e-01 2.19419818e-01 6.31528664e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 358.98232058799994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.23, Y:-67.73, Z:62.75 [[-5.16359789e-01 -5.73625969e-01 -6.35866193e-01 2.82234595e+02] [ 3.82929150e-01 -8.18804252e-01 4.27697163e-01 -6.77274631e+01] [-7.65988142e-01 -2.26460840e-02 6.42455696e-01 6.27458047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04232058799994 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:282.23, Y:-67.74, Z:62.74 [[-5.15897439e-01 -5.77832052e-01 -6.32423871e-01 2.82226227e+02] [ 3.83384181e-01 -8.15929706e-01 4.32753145e-01 -6.77369294e+01] [-7.66072061e-01 -1.92050689e-02 6.42467714e-01 6.27399313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10232058799994 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:282.22, Y:-67.74, Z:62.73 [[-5.14620310e-01 -5.81817344e-01 -6.29805140e-01 2.82216265e+02] [ 3.85042821e-01 -8.13123650e-01 4.36545479e-01 -6.77393775e+01] [-7.66099186e-01 -1.78467781e-02 6.42474537e-01 6.27290930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16232058799994 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:-67.74, Z:62.74 [[-5.13317800e-01 -5.87427932e-01 -6.25646275e-01 2.82192599e+02] [ 3.86676852e-01 -8.09141142e-01 4.42460873e-01 -6.77355385e+01] [-7.66150017e-01 -1.47998901e-02 6.42491334e-01 6.27407671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22232058799995 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:282.18, Y:-67.74, Z:62.75 [[-5.13999808e-01 -5.90487058e-01 -6.22197100e-01 2.82183756e+02] [ 3.85635301e-01 -8.06984675e-01 4.47281956e-01 -6.77412655e+01] [-7.66217731e-01 -1.00383267e-02 6.42502623e-01 6.27458126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28232058799995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.17, Y:-67.74, Z:62.69 [[-4.92836217e-01 -6.10932136e-01 -6.19575975e-01 2.82171010e+02] [ 4.13630532e-01 -7.90950076e-01 4.50896619e-01 -6.77431383e+01] [-7.65520899e-01 -3.40573558e-02 6.42509028e-01 6.26850966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34232058799995 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:282.12, Y:-67.76, Z:62.69 [[-4.89235344e-01 -6.41309123e-01 -5.91076465e-01 2.82116914e+02] [ 4.17624750e-01 -7.67233241e-01 4.86767627e-01 -6.77604295e+01] [-7.65662032e-01 -8.70423403e-03 6.43184180e-01 6.26929174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40232058799995 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:282.10, Y:-67.75, Z:62.68 [[-4.82985165e-01 -6.48711709e-01 -5.88131320e-01 2.82101310e+02] [ 4.24961316e-01 -7.60921157e-01 4.90313035e-01 -6.77549847e+01] [-7.65593371e-01 -1.31191379e-02 6.43191012e-01 6.26780059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46232058799995 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:282.08, Y:-67.76, Z:62.66 [[-4.80582546e-01 -6.58062223e-01 -5.79650349e-01 2.82084364e+02] [ 4.27622914e-01 -7.52926546e-01 5.00240202e-01 -6.77614870e+01] [-7.65623314e-01 -7.46506143e-03 6.43245842e-01 6.26631881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52232058799996 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:282.07, Y:-67.76, Z:62.64 [[-4.69099451e-01 -6.69251191e-01 -5.76236539e-01 2.82065022e+02] [ 4.40479374e-01 -7.42834339e-01 5.04157779e-01 -6.77616787e+01] [-7.65456482e-01 -1.73201723e-02 6.43254526e-01 6.26395859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58232058799996 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:282.04, Y:-67.76, Z:62.62 [[-4.65594846e-01 -6.81878171e-01 -5.64148561e-01 2.82037624e+02] [ 4.44099131e-01 -7.31402974e-01 5.17518746e-01 -6.77626929e+01] [-7.65504671e-01 -9.58382451e-03 6.43358958e-01 6.26161310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64232058799996 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:282.02, Y:-67.76, Z:62.58 [[-4.50785704e-01 -6.94472479e-01 -5.60803196e-01 2.82022801e+02] [ 4.59602134e-01 -7.19157069e-01 5.21132410e-01 -6.77632558e+01] [-7.65217699e-01 -2.28273053e-02 6.43366759e-01 6.25845991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70232058799996 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:281.87, Y:-67.81, Z:62.52 [[-3.99450584e-01 -7.95512915e-01 -4.55629709e-01 2.81874718e+02] [ 4.98240762e-01 -6.05577824e-01 6.20509179e-01 -6.78146205e+01] [-7.69542314e-01 2.08494608e-02 6.38255377e-01 6.25200015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76232058799997 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:281.90, Y:-67.78, Z:62.54 [[-3.97363394e-01 -7.74905843e-01 -4.91551897e-01 2.81898274e+02] [ 5.00454854e-01 -6.31983236e-01 5.91728087e-01 -6.77773919e+01] [-7.69186110e-01 -1.08684522e-02 6.38932394e-01 6.25389139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82232058799997 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:281.92, Y:-67.81, Z:62.56 [[-3.88244127e-01 -7.81791473e-01 -4.87922731e-01 2.81919727e+02] [ 5.07733887e-01 -6.23312536e-01 5.94716556e-01 -6.78132044e+01] [-7.69072687e-01 -1.68396948e-02 6.38939455e-01 6.25618757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88232058799997 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:281.90, Y:-67.76, Z:62.50 [[-4.21440083e-01 -7.67278680e-01 -4.83395991e-01 2.81897673e+02] [ 4.80665314e-01 -6.41007054e-01 5.98390185e-01 -6.77647203e+01] [-7.68992271e-01 1.98339229e-02 6.38950313e-01 6.25038114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.942320588 meters Centerline goodness : 0.998667 with order 1 Centerline is valid? [True, True] Translation: X:281.86, Y:-67.75, Z:62.48 [[-3.77570956e-01 -7.92148333e-01 -4.79521837e-01 2.81856230e+02] [ 5.15866602e-01 -6.09992128e-01 6.01490858e-01 -6.77492570e+01] [-7.68974526e-01 -2.02638230e-02 6.38958180e-01 6.24768587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002320588 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:281.85, Y:-67.75, Z:62.47 [[-3.72570277e-01 -7.98416655e-01 -4.72992847e-01 2.81846338e+02] [ 5.19495512e-01 -6.01782625e-01 6.06615269e-01 -6.77479899e+01] [-7.68970611e-01 -1.97108422e-02 6.38980189e-01 6.24671428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062320588 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:281.84, Y:-67.74, Z:62.46 [[-3.69195931e-01 -8.02303005e-01 -4.69046110e-01 2.81838023e+02] [ 5.21908842e-01 -5.96591359e-01 6.09663769e-01 -6.77448453e+01] [-7.68963930e-01 -1.97139292e-02 6.38988134e-01 6.24569469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122320588 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:281.83, Y:-67.74, Z:62.44 [[-3.64049879e-01 -8.06846979e-01 -4.65258678e-01 2.81826859e+02] [ 5.25591684e-01 -5.90367782e-01 6.12551438e-01 -6.77396300e+01] [-7.68909011e-01 -2.15368152e-02 6.38995382e-01 6.24393280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.182320588 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:281.81, Y:-67.73, Z:62.43 [[-3.61334518e-01 -8.10345907e-01 -4.61277440e-01 2.81814194e+02] [ 5.27445341e-01 -5.85579647e-01 6.15546822e-01 -6.77285462e+01] [-7.68920528e-01 -2.08803229e-02 6.39003313e-01 6.24305194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.242320588 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:281.80, Y:-67.72, Z:62.41 [[-3.51109948e-01 -8.17374572e-01 -4.56750056e-01 2.81795957e+02] [ 5.34585775e-01 -5.75479683e-01 6.18903210e-01 -6.77153472e+01] [-7.68726124e-01 -2.68690090e-02 6.39013461e-01 6.24097441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.302320588 meters Centerline goodness : 0.929717 with order 2 Centerline is valid? [True, False] Translation: X:281.60, Y:-67.15, Z:61.97 [[ 5.19809512e-01 7.40323913e-01 -4.26284617e-01 2.81602171e+02] [-6.63467887e-01 6.64193163e-01 3.44467421e-01 -6.71541031e+01] [ 5.38152798e-01 1.03768712e-01 8.36435067e-01 6.19696876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.362320588 meters Centerline goodness : 0.998368 with order 1 Centerline is valid? [False, True] Translation: X:281.65, Y:-67.11, Z:61.99 [[ 5.29617631e-01 7.00209479e-01 -4.78760744e-01 2.81649231e+02] [-6.56310899e-01 6.95836240e-01 2.91664072e-01 -6.71119499e+01] [ 5.37365024e-01 1.59745459e-01 8.28082254e-01 6.19933071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42232058799993 meters Centerline goodness : 0.997540 with order 1 Centerline is valid? [True, True] Translation: X:281.58, Y:-67.26, Z:62.00 [[ 5.32308134e-01 7.67915628e-01 -3.56305542e-01 2.81577173e+02] [-6.50224560e-01 6.40396196e-01 4.08779566e-01 -6.72560178e+01] [ 5.42084930e-01 1.40819265e-02 8.40205706e-01 6.20043389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48232058799994 meters Centerline goodness : 0.970616 with order 1 Centerline is valid? [True, True] Translation: X:281.60, Y:-67.32, Z:62.01 [[ 5.96203069e-01 7.19396925e-01 -3.56384575e-01 2.81596543e+02] [-5.92904310e-01 6.93844420e-01 4.08710655e-01 -6.73220753e+01] [ 5.41300637e-01 -3.23725956e-02 8.40205710e-01 6.20143665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54232058799994 meters Centerline goodness : 0.982743 with order 1 Centerline is valid? [True, True] Translation: X:281.64, Y:-67.35, Z:62.04 [[ 5.91999845e-01 7.22829584e-01 -3.56445754e-01 2.81635065e+02] [-5.96935130e-01 6.90411230e-01 4.08657294e-01 -6.73541699e+01] [ 5.41483734e-01 -2.91500623e-02 8.40205713e-01 6.20441775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60232058799994 meters Centerline goodness : 0.992263 with order 1 Centerline is valid? [True, True] Translation: X:281.67, Y:-67.38, Z:62.09 [[ 5.59783308e-01 7.48011929e-01 -3.56540043e-01 2.81665930e+02] [-6.26591159e-01 6.63664051e-01 4.08575020e-01 -6.73779014e+01] [ 5.42241798e-01 -5.30863732e-03 8.40205719e-01 6.20933655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66232058799994 meters Centerline goodness : 0.990064 with order 1 Centerline is valid? [True, True] Translation: X:281.70, Y:-67.42, Z:62.12 [[ 5.68542357e-01 7.41319142e-01 -3.56658826e-01 2.81701201e+02] [-6.18739653e-01 6.71053223e-01 4.08471312e-01 -6.74162740e+01] [ 5.42144658e-01 -1.15542841e-02 8.40205730e-01 6.21210915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3052.55 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%| | 0/12024 [00:00